Changing the PVT callback so it receives the data as an argument

examples/Callbacks/CallbackExample1_PVT/CallbackExample1_PVT.ino

@@ -27,39 +27,39 @@
 SFE_UBLOX_GPS myGPS;
 
 // Callback: printPVTdata will be called when new NAV PVT data arrives
-// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t *packetUBXNAVPVTcopy
-void printPVTdata()
+// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
+void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
 {
     Serial.println();
 
     Serial.print(F("Time: ")); // Print the time
-    uint8_t hms = myGPS.packetUBXNAVPVTcopy->hour; // Print the hours
+    uint8_t hms = ubxDataStruct.hour; // Print the hours
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = myGPS.packetUBXNAVPVTcopy->min; // Print the minutes
+    hms = ubxDataStruct.min; // Print the minutes
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F(":"));
-    hms = myGPS.packetUBXNAVPVTcopy->sec; // Print the seconds
+    hms = ubxDataStruct.sec; // Print the seconds
     if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
     Serial.print(hms);
     Serial.print(F("."));
-    unsigned long millisecs = myGPS.packetUBXNAVPVTcopy->iTOW % 1000; // Print the milliseconds
+    unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
     if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
     if (millisecs < 10) Serial.print(F("0"));
     Serial.print(millisecs);
 
-    long latitude = myGPS.packetUBXNAVPVTcopy->lat; // Print the latitude
+    long latitude = ubxDataStruct.lat; // Print the latitude
     Serial.print(F(" Lat: "));
     Serial.print(latitude);
 
-    long longitude = myGPS.packetUBXNAVPVTcopy->lon; // Print the longitude
+    long longitude = ubxDataStruct.lon; // Print the longitude
     Serial.print(F(" Long: "));
     Serial.print(longitude);
     Serial.print(F(" (degrees * 10^-7)"));
 
-    long altitude = myGPS.packetUBXNAVPVTcopy->hMSL; // Print the height above mean sea level
+    long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
     Serial.print(F(" Height above MSL: "));
     Serial.print(altitude);
     Serial.println(F(" (mm)"));  
@@ -85,8 +85,8 @@ void setup()
   myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
 
   myGPS.setNavigationFrequency(2); //Produce two solutions per second
-  
-  myGPS.setAutoPVTcallback(printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
+
+  myGPS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
 }
 
 void loop()

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1448,10 +1448,10 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
         packetUBXNAVPVT->moduleQueried.moduleQueried2.all = 0xFFFFFFFF;
 
         //Check if we need to copy the data for the callback
-        if ((packetUBXNAVPVTcopy != NULL) // If RAM has been allocated for the copy of the data
+        if ((packetUBXNAVPVT->callbackData != NULL) // If RAM has been allocated for the copy of the data
           && (packetUBXNAVPVT->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
         {
-          memcpy(&packetUBXNAVPVTcopy->iTOW, &packetUBXNAVPVT->data.iTOW, sizeof(UBX_NAV_PVT_data_t));
+          memcpy(&packetUBXNAVPVT->callbackData->iTOW, &packetUBXNAVPVT->data.iTOW, sizeof(UBX_NAV_PVT_data_t));
           packetUBXNAVPVT->automaticFlags.flags.bits.callbackCopyValid = true;
         }
 
@@ -2736,13 +2736,13 @@ void SFE_UBLOX_GPS::checkCallbacks(void)
     packetUBXNAVATT->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
   }
 
-  if ((packetUBXNAVPVTcopy != NULL) // If RAM has been allocated for the copy of the data
-    && (packetUBXNAVPVT->automaticFlags.callbackPointer != NULL) // If the pointer to the callback has been defined
+  if ((packetUBXNAVPVT->callbackData != NULL) // If RAM has been allocated for the copy of the data
+    && (packetUBXNAVPVT->callbackPointer != NULL) // If the pointer to the callback has been defined
     && (packetUBXNAVPVT->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
   {
     // if (_printDebug == true)
     //   _debugSerial->println(F("checkCallbacks: calling callback for NAV PVT"));
-    packetUBXNAVPVT->automaticFlags.callbackPointer(); // Call the callback
+    packetUBXNAVPVT->callbackPointer(*packetUBXNAVPVT->callbackData); // Call the callback
     packetUBXNAVPVT->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
   }
 
@@ -5280,27 +5280,27 @@ boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16
 }
 
 //Enable automatic navigation message generation by the GNSS. This changes the way getPVT works.
-//Data is passed to the callback in packetUBXNAVPVTcopy.
-boolean SFE_UBLOX_GPS::setAutoPVTcallback(void (*callbackPointer)(), uint16_t maxWait)
+boolean SFE_UBLOX_GPS::setAutoPVTcallback(void (*callbackPointer)(UBX_NAV_PVT_data_t), uint16_t maxWait)
 {
   // Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
   boolean result = setAutoPVT(true, false, maxWait);
   if (!result)
     return (result); // Bail if setAutoPVT failed
 
-  if (packetUBXNAVPVTcopy == NULL) //Check if RAM has been allocated for the callback copy
+  if (packetUBXNAVPVT->callbackData == NULL) //Check if RAM has been allocated for the callback copy
   {
-    packetUBXNAVPVTcopy = new UBX_NAV_PVT_data_t; //Allocate RAM for the main struct
+    packetUBXNAVPVT->callbackData = new UBX_NAV_PVT_data_t; //Allocate RAM for the main struct
   }
 
-  if (packetUBXNAVPVTcopy == NULL)
+  if (packetUBXNAVPVT->callbackData == NULL)
   {
     if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
       _debugSerial->println(F("setAutoPVTcallback: PANIC! RAM allocation failed!"));
     return (false);
   }
 
-  packetUBXNAVPVT->automaticFlags.callbackPointer = callbackPointer;
+  packetUBXNAVPVT->callbackPointer = callbackPointer; // RAM has been allocated so now update the pointer
+
   return (true);
 }
 
@@ -5335,6 +5335,8 @@ boolean SFE_UBLOX_GPS::initPacketUBXNAVPVT()
   packetUBXNAVPVT->automaticFlags.callbackPointer = NULL;
   packetUBXNAVPVT->moduleQueried.moduleQueried1.all = 0;
   packetUBXNAVPVT->moduleQueried.moduleQueried2.all = 0;
+  packetUBXNAVPVT->callbackPointer = NULL;
+  packetUBXNAVPVT->callbackData = NULL;
   return (true);
 }
 

src/SparkFun_Ublox_Arduino_Library.h

@@ -696,7 +696,7 @@ class SFE_UBLOX_GPS
 	boolean getPVT(uint16_t maxWait = defaultMaxWait);	//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. Returns true if new PVT is available.
 	boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
 	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
-	boolean setAutoPVTcallback(void (*callbackPointer)(), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
+	boolean setAutoPVTcallback(void (*callbackPointer)(UBX_NAV_PVT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
 	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
 	boolean initPacketUBXNAVPVT(); // Allocate RAM for packetUBXNAVPVT and initialize it
 	void flushPVT(); //Mark all the PVT data as read/stale
@@ -1009,7 +1009,6 @@ class SFE_UBLOX_GPS
 	UBX_NAV_ATT_t *packetUBXNAVATT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
 	UBX_NAV_ATT_data_t *packetUBXNAVATTcopy = NULL; // Copy of the data - to be passed to the callback if required
 	UBX_NAV_PVT_t *packetUBXNAVPVT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
-	UBX_NAV_PVT_data_t *packetUBXNAVPVTcopy = NULL; // Copy of the data - to be passed to the callback if required
 	UBX_NAV_ODO_t *packetUBXNAVODO = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
 	UBX_NAV_ODO_data_t *packetUBXNAVODOcopy = NULL; // Copy of the data - to be passed to the callback if required
 	UBX_NAV_VELECEF_t *packetUBXNAVVELECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

src/u-blox_structs.h

@@ -488,6 +488,8 @@ typedef struct
 	ubxAutomaticFlags automaticFlags;
   UBX_NAV_PVT_data_t data;
   UBX_NAV_PVT_moduleQueried_t moduleQueried;
+  void (*callbackPointer)(UBX_NAV_PVT_data_t);
+  UBX_NAV_PVT_data_t  *callbackData;
 } UBX_NAV_PVT_t;
 
 // UBX-NAV-ODO (0x01 0x09): Odometer solution