Merge pull request #36 from sparkfun/release_candidate

PaulZC · web-flow · commit 929a9ee6a27a · 2021-05-08T06:56:19.000+01:00
v2.0.7
diff --git a/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino b/examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino
@@ -156,7 +156,17 @@ void loop()
       //Serial.print("Pushing ");
       //Serial.print(numBytes);
       //Serial.println(" bytes via I2C");
-      myGNSS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C
+
+      //On processors which have large I2C buffers, like the ESP32, we can make the push more efficient by
+      //calling setI2CTransactionSize first to increase the maximum I2C transmission size
+      //(setI2CTransactionSize only needs to be called once, so it should be in setup, not loop)
+      //myGNSS.setI2CTransactionSize(128); // Send up to 128 bytes in one I2C transmission
+
+      //The ESP32 seems to have an issue when using a restarts to break up long RTCM pushes
+      //You may need to call pushRawData and set the optional 'stop' argument to true:
+      //myGNSS.pushRawData(((uint8_t *)&store), numBytes, true); // Push the RTCM data via I2C - always use stops on long RTCM pushes
+      
+      myGNSS.pushRawData(((uint8_t *)&store), numBytes); // Push the RTCM data via I2C - using restarts to break up long I2C pushes
       numBytes = 0; // Reset numBytes
     }
 #endif
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.0.6
+version=2.0.7
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
@@ -91,15 +91,15 @@ void SFE_UBLOX_GNSS::end(void)
     delete[] packetUBXNAVTIMELS;
     packetUBXNAVTIMELS = NULL; // Redundant?
   }
-  
+
   if (packetUBXNAVPOSECEF != NULL)
   {
     if (packetUBXNAVPOSECEF->callbackData != NULL)
     {
       delete[] packetUBXNAVPOSECEF->callbackData;
     }
     delete[] packetUBXNAVPOSECEF;
-    packetUBXNAVPOSECEF = NULL; // Redundant?  
+    packetUBXNAVPOSECEF = NULL; // Redundant?
   }
 
   if (packetUBXNAVSTATUS != NULL)
@@ -109,7 +109,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVSTATUS->callbackData;
     }
     delete[] packetUBXNAVSTATUS;
-    packetUBXNAVSTATUS = NULL; // Redundant?  
+    packetUBXNAVSTATUS = NULL; // Redundant?
   }
 
   if (packetUBXNAVDOP != NULL)
@@ -119,7 +119,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVDOP->callbackData;
     }
     delete[] packetUBXNAVDOP;
-    packetUBXNAVDOP = NULL; // Redundant?  
+    packetUBXNAVDOP = NULL; // Redundant?
   }
 
   if (packetUBXNAVATT != NULL)
@@ -129,7 +129,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVATT->callbackData;
     }
     delete[] packetUBXNAVATT;
-    packetUBXNAVATT = NULL; // Redundant?  
+    packetUBXNAVATT = NULL; // Redundant?
   }
 
   if (packetUBXNAVPVT != NULL)
@@ -143,7 +143,7 @@ void SFE_UBLOX_GNSS::end(void)
       }
     }
     delete[] packetUBXNAVPVT;
-    packetUBXNAVPVT = NULL; // Redundant?  
+    packetUBXNAVPVT = NULL; // Redundant?
     if (_printDebug == true)
     {
       _debugSerial->println(F("end: packetUBXNAVPVT has been deleted"));
@@ -157,7 +157,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVODO->callbackData;
     }
     delete[] packetUBXNAVODO;
-    packetUBXNAVODO = NULL; // Redundant?  
+    packetUBXNAVODO = NULL; // Redundant?
   }
 
   if (packetUBXNAVVELECEF != NULL)
@@ -167,7 +167,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVVELECEF->callbackData;
     }
     delete[] packetUBXNAVVELECEF;
-    packetUBXNAVVELECEF = NULL; // Redundant?  
+    packetUBXNAVVELECEF = NULL; // Redundant?
   }
 
   if (packetUBXNAVVELNED != NULL)
@@ -177,7 +177,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVVELNED->callbackData;
     }
     delete[] packetUBXNAVVELNED;
-    packetUBXNAVVELNED = NULL; // Redundant?  
+    packetUBXNAVVELNED = NULL; // Redundant?
   }
 
   if (packetUBXNAVHPPOSECEF != NULL)
@@ -187,7 +187,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVHPPOSECEF->callbackData;
     }
     delete[] packetUBXNAVHPPOSECEF;
-    packetUBXNAVHPPOSECEF = NULL; // Redundant?  
+    packetUBXNAVHPPOSECEF = NULL; // Redundant?
   }
 
   if (packetUBXNAVHPPOSLLH != NULL)
@@ -197,7 +197,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVHPPOSLLH->callbackData;
     }
     delete[] packetUBXNAVHPPOSLLH;
-    packetUBXNAVHPPOSLLH = NULL; // Redundant?  
+    packetUBXNAVHPPOSLLH = NULL; // Redundant?
   }
 
   if (packetUBXNAVCLOCK != NULL)
@@ -207,7 +207,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVCLOCK->callbackData;
     }
     delete[] packetUBXNAVCLOCK;
-    packetUBXNAVCLOCK = NULL; // Redundant?  
+    packetUBXNAVCLOCK = NULL; // Redundant?
   }
 
   if (packetUBXNAVSVIN != NULL)
@@ -217,7 +217,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVSVIN->callbackData;
     }
     delete[] packetUBXNAVSVIN;
-    packetUBXNAVSVIN = NULL; // Redundant?  
+    packetUBXNAVSVIN = NULL; // Redundant?
   }
 
   if (packetUBXNAVRELPOSNED != NULL)
@@ -227,7 +227,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXNAVRELPOSNED->callbackData;
     }
     delete[] packetUBXNAVRELPOSNED;
-    packetUBXNAVRELPOSNED = NULL; // Redundant?  
+    packetUBXNAVRELPOSNED = NULL; // Redundant?
   }
 
   if (packetUBXRXMSFRBX != NULL)
@@ -237,7 +237,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXRXMSFRBX->callbackData;
     }
     delete[] packetUBXRXMSFRBX;
-    packetUBXRXMSFRBX = NULL; // Redundant?  
+    packetUBXRXMSFRBX = NULL; // Redundant?
   }
 
   if (packetUBXRXMRAWX != NULL)
@@ -247,7 +247,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXRXMRAWX->callbackData;
     }
     delete[] packetUBXRXMRAWX;
-    packetUBXRXMRAWX = NULL; // Redundant?  
+    packetUBXRXMRAWX = NULL; // Redundant?
   }
 
   if (packetUBXCFGRATE != NULL)
@@ -257,7 +257,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXCFGRATE->callbackData;
     }
     delete[] packetUBXCFGRATE;
-    packetUBXCFGRATE = NULL; // Redundant?  
+    packetUBXCFGRATE = NULL; // Redundant?
   }
 
   if (packetUBXTIMTM2 != NULL)
@@ -267,7 +267,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXTIMTM2->callbackData;
     }
     delete[] packetUBXTIMTM2;
-    packetUBXTIMTM2 = NULL; // Redundant?  
+    packetUBXTIMTM2 = NULL; // Redundant?
   }
 
   if (packetUBXESFALG != NULL)
@@ -277,7 +277,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXESFALG->callbackData;
     }
     delete[] packetUBXESFALG;
-    packetUBXESFALG = NULL; // Redundant?  
+    packetUBXESFALG = NULL; // Redundant?
   }
 
   if (packetUBXESFSTATUS != NULL)
@@ -287,7 +287,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXESFSTATUS->callbackData;
     }
     delete[] packetUBXESFSTATUS;
-    packetUBXESFSTATUS = NULL; // Redundant?  
+    packetUBXESFSTATUS = NULL; // Redundant?
   }
 
   if (packetUBXESFINS != NULL)
@@ -297,7 +297,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXESFINS->callbackData;
     }
     delete[] packetUBXESFINS;
-    packetUBXESFINS = NULL; // Redundant?  
+    packetUBXESFINS = NULL; // Redundant?
   }
 
   if (packetUBXESFMEAS != NULL)
@@ -307,7 +307,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXESFMEAS->callbackData;
     }
     delete[] packetUBXESFMEAS;
-    packetUBXESFMEAS = NULL; // Redundant?  
+    packetUBXESFMEAS = NULL; // Redundant?
   }
 
   if (packetUBXESFRAW != NULL)
@@ -317,7 +317,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXESFRAW->callbackData;
     }
     delete[] packetUBXESFRAW;
-    packetUBXESFRAW = NULL; // Redundant?  
+    packetUBXESFRAW = NULL; // Redundant?
   }
 
   if (packetUBXHNRATT != NULL)
@@ -327,7 +327,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXHNRATT->callbackData;
     }
     delete[] packetUBXHNRATT;
-    packetUBXHNRATT = NULL; // Redundant?  
+    packetUBXHNRATT = NULL; // Redundant?
   }
 
   if (packetUBXHNRINS != NULL)
@@ -337,7 +337,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXHNRINS->callbackData;
     }
     delete[] packetUBXHNRINS;
-    packetUBXHNRINS = NULL; // Redundant?  
+    packetUBXHNRINS = NULL; // Redundant?
   }
 
   if (packetUBXHNRPVT != NULL)
@@ -347,7 +347,7 @@ void SFE_UBLOX_GNSS::end(void)
       delete[] packetUBXHNRPVT->callbackData;
     }
     delete[] packetUBXHNRPVT;
-    packetUBXHNRPVT = NULL; // Redundant?  
+    packetUBXHNRPVT = NULL; // Redundant?
   }
 
 }
@@ -1435,7 +1435,7 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)
 //This function is called for each byte of an RTCM frame
 //Ths user can overwrite this function and process the RTCM frame as they please
 //Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)
-void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
+void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming) // IGNORE COMPILER WARNING unused parameter 'incoming'
 {
   //Radio.sendReliable((String)incoming); //An example of passing this byte to a radio
 
@@ -1458,7 +1458,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_
     //If incomingUBX is a user-defined custom packet, then the payload size could be different to packetCfgPayloadSize.
     //TO DO: update this to prevent an overrun when receiving an automatic message
     //       and the incomingUBX payload size is smaller than packetCfgPayloadSize.
-  size_t maximum_payload_size;
+  uint16_t maximum_payload_size;
   if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)
     maximum_payload_size = packetCfgPayloadSize;
   else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETAUTO)
@@ -2404,7 +2404,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
         packetUBXESFMEAS->data.timeTag = extractLong(msg, 0);
         packetUBXESFMEAS->data.flags.all = extractInt(msg, 4);
         packetUBXESFMEAS->data.id = extractInt(msg, 6);
-        for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)
+        for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)
           && ((i * 4) < (msg->len - 8)); i++)
         {
           packetUBXESFMEAS->data.data[i].data.all = extractLong(msg, 8 + (i * 4));
@@ -2435,10 +2435,10 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
       //Parse various byte fields into storage - but only if we have memory allocated for it
       if (packetUBXESFRAW != NULL)
       {
-        for (int i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)
+        for (uint16_t i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)
         {
-          packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 8 + (i * 8));
-          packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8) + 4);
+          packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 4 + (i * 8));
+          packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8));
         }
 
         //Mark all datums as fresh (not read before)
@@ -2468,7 +2468,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
         packetUBXESFSTATUS->data.version = extractByte(msg, 4);
         packetUBXESFSTATUS->data.fusionMode = extractByte(msg, 12);
         packetUBXESFSTATUS->data.numSens = extractByte(msg, 15);
-        for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)
+        for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)
           && ((i * 4) < (msg->len - 16)); i++)
         {
           packetUBXESFSTATUS->data.status[i].sensStatus1.all = extractByte(msg, 16 + (i * 4) + 0);
@@ -2771,7 +2771,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)
   _serialPort->write(outgoingUBX->len >> 8);   //MSB
 
   //Write payload.
-  for (int i = 0; i < outgoingUBX->len; i++)
+  for (uint16_t i = 0; i < outgoingUBX->len; i++)
   {
     _serialPort->write(outgoingUBX->payload[i]);
   }
@@ -2823,7 +2823,7 @@ void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload)
     {
       _debugSerial->print(F(" Payload:"));
 
-      for (int x = 0; x < packet->len; x++)
+      for (uint16_t x = 0; x < packet->len; x++)
       {
         _debugSerial->print(F(" "));
         _debugSerial->print(packet->payload[x], HEX);
@@ -3394,7 +3394,9 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
 // Push (e.g.) RTCM data directly to the module
 // Returns true if all numDataBytes were pushed successfully
 // Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing.
-boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)
+// Default to using a restart between transmissions. But processors like ESP32 seem to need a stop (#30). Set stop to true to use a stop instead.
+// On processors like the ESP32, you can use setI2CTransactionSize to increase the size of each transmission - to e.g. 128 bytes
+boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, boolean stop)
 {
   if (commType == COMM_TYPE_SERIAL)
   {
@@ -3425,12 +3427,12 @@ boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)
 
       if (bytesLeftToWrite > 0)
       {
-        if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.
-          return (false);                          //Sensor did not ACK
+        if (_i2cPort->endTransmission(stop) != 0) //Send a restart or stop command
+          return (false);                         //Sensor did not ACK
       }
       else
       {
-        if (_i2cPort->endTransmission() != 0) //We're done. Release bus.
+        if (_i2cPort->endTransmission() != 0) //We're done. Release bus. Always use a stop here
           return (false);                     //Sensor did not ACK
       }
     }
@@ -9709,7 +9711,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint16_t maxWait)
   packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.sec = false;
   packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
   // assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza
-  uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) + 
+  uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
                             DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +
                           ((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +
                         (uint32_t)packetUBXNAVPVT->data.hour) * 60 +
@@ -9736,7 +9738,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)
   packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.nano = false;
   packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;
   // assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza
-  uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) + 
+  uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +
                             DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +
                           ((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +
                         (uint32_t)packetUBXNAVPVT->data.hour) * 60 +
@@ -10141,7 +10143,7 @@ uint16_t SFE_UBLOX_GNSS::getMagAcc(uint16_t maxWait)
 }
 
 // getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.
-int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait)
+int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait) // IGNORE COMPILER WARNING unused parameter 'maxWait'
 {
   return (0);
 }
@@ -10395,7 +10397,7 @@ uint8_t SFE_UBLOX_GNSS::getLeapIndicator(int32_t& timeToLsEvent, uint16_t maxWai
     getLeapSecondEvent(maxWait);
   packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.validTimeToLsEvent = false; //Since we are about to give this to user, mark this data as stale
   packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.lsChange = false;
-  packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;  
+  packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;
   packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.all = false;
   timeToLsEvent = packetUBXNAVTIMELS->data.timeToLsEvent;
   // returns NTP Leap Indicator
diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.h b/src/SparkFun_u-blox_GNSS_Arduino_Library.h

Original file line number	Diff line number	Diff line change
`@@ -91,15 +91,15 @@ void SFE_UBLOX_GNSS::end(void)`
`91`	`91`	`delete[] packetUBXNAVTIMELS;`
`92`	`92`	`packetUBXNAVTIMELS = NULL; // Redundant?`
`93`	`93`	`}`
`94`		`-`
	`94`	`+`
`95`	`95`	`if (packetUBXNAVPOSECEF != NULL)`
`96`	`96`	`{`
`97`	`97`	`if (packetUBXNAVPOSECEF->callbackData != NULL)`
`98`	`98`	`{`
`99`	`99`	`delete[] packetUBXNAVPOSECEF->callbackData;`
`100`	`100`	`}`
`101`	`101`	`delete[] packetUBXNAVPOSECEF;`
`102`		`- packetUBXNAVPOSECEF = NULL; // Redundant?`
	`102`	`+ packetUBXNAVPOSECEF = NULL; // Redundant?`
`103`	`103`	`}`
`104`	`104`
`105`	`105`	`if (packetUBXNAVSTATUS != NULL)`
`@@ -109,7 +109,7 @@ void SFE_UBLOX_GNSS::end(void)`
`109`	`109`	`delete[] packetUBXNAVSTATUS->callbackData;`
`110`	`110`	`}`
`111`	`111`	`delete[] packetUBXNAVSTATUS;`
`112`		`- packetUBXNAVSTATUS = NULL; // Redundant?`
	`112`	`+ packetUBXNAVSTATUS = NULL; // Redundant?`
`113`	`113`	`}`
`114`	`114`
`115`	`115`	`if (packetUBXNAVDOP != NULL)`
`@@ -119,7 +119,7 @@ void SFE_UBLOX_GNSS::end(void)`
`119`	`119`	`delete[] packetUBXNAVDOP->callbackData;`
`120`	`120`	`}`
`121`	`121`	`delete[] packetUBXNAVDOP;`
`122`		`- packetUBXNAVDOP = NULL; // Redundant?`
	`122`	`+ packetUBXNAVDOP = NULL; // Redundant?`
`123`	`123`	`}`
`124`	`124`
`125`	`125`	`if (packetUBXNAVATT != NULL)`
`@@ -129,7 +129,7 @@ void SFE_UBLOX_GNSS::end(void)`
`129`	`129`	`delete[] packetUBXNAVATT->callbackData;`
`130`	`130`	`}`
`131`	`131`	`delete[] packetUBXNAVATT;`
`132`		`- packetUBXNAVATT = NULL; // Redundant?`
	`132`	`+ packetUBXNAVATT = NULL; // Redundant?`
`133`	`133`	`}`
`134`	`134`
`135`	`135`	`if (packetUBXNAVPVT != NULL)`
`@@ -143,7 +143,7 @@ void SFE_UBLOX_GNSS::end(void)`
`143`	`143`	`}`
`144`	`144`	`}`
`145`	`145`	`delete[] packetUBXNAVPVT;`
`146`		`- packetUBXNAVPVT = NULL; // Redundant?`
	`146`	`+ packetUBXNAVPVT = NULL; // Redundant?`
`147`	`147`	`if (_printDebug == true)`
`148`	`148`	`{`
`149`	`149`	`_debugSerial->println(F("end: packetUBXNAVPVT has been deleted"));`
`@@ -157,7 +157,7 @@ void SFE_UBLOX_GNSS::end(void)`
`157`	`157`	`delete[] packetUBXNAVODO->callbackData;`
`158`	`158`	`}`
`159`	`159`	`delete[] packetUBXNAVODO;`
`160`		`- packetUBXNAVODO = NULL; // Redundant?`
	`160`	`+ packetUBXNAVODO = NULL; // Redundant?`
`161`	`161`	`}`
`162`	`162`
`163`	`163`	`if (packetUBXNAVVELECEF != NULL)`
`@@ -167,7 +167,7 @@ void SFE_UBLOX_GNSS::end(void)`
`167`	`167`	`delete[] packetUBXNAVVELECEF->callbackData;`
`168`	`168`	`}`
`169`	`169`	`delete[] packetUBXNAVVELECEF;`
`170`		`- packetUBXNAVVELECEF = NULL; // Redundant?`
	`170`	`+ packetUBXNAVVELECEF = NULL; // Redundant?`
`171`	`171`	`}`
`172`	`172`
`173`	`173`	`if (packetUBXNAVVELNED != NULL)`
`@@ -177,7 +177,7 @@ void SFE_UBLOX_GNSS::end(void)`
`177`	`177`	`delete[] packetUBXNAVVELNED->callbackData;`
`178`	`178`	`}`
`179`	`179`	`delete[] packetUBXNAVVELNED;`
`180`		`- packetUBXNAVVELNED = NULL; // Redundant?`
	`180`	`+ packetUBXNAVVELNED = NULL; // Redundant?`
`181`	`181`	`}`
`182`	`182`
`183`	`183`	`if (packetUBXNAVHPPOSECEF != NULL)`
`@@ -187,7 +187,7 @@ void SFE_UBLOX_GNSS::end(void)`
`187`	`187`	`delete[] packetUBXNAVHPPOSECEF->callbackData;`
`188`	`188`	`}`
`189`	`189`	`delete[] packetUBXNAVHPPOSECEF;`
`190`		`- packetUBXNAVHPPOSECEF = NULL; // Redundant?`
	`190`	`+ packetUBXNAVHPPOSECEF = NULL; // Redundant?`
`191`	`191`	`}`
`192`	`192`
`193`	`193`	`if (packetUBXNAVHPPOSLLH != NULL)`
`@@ -197,7 +197,7 @@ void SFE_UBLOX_GNSS::end(void)`
`197`	`197`	`delete[] packetUBXNAVHPPOSLLH->callbackData;`
`198`	`198`	`}`
`199`	`199`	`delete[] packetUBXNAVHPPOSLLH;`
`200`		`- packetUBXNAVHPPOSLLH = NULL; // Redundant?`
	`200`	`+ packetUBXNAVHPPOSLLH = NULL; // Redundant?`
`201`	`201`	`}`
`202`	`202`
`203`	`203`	`if (packetUBXNAVCLOCK != NULL)`
`@@ -207,7 +207,7 @@ void SFE_UBLOX_GNSS::end(void)`
`207`	`207`	`delete[] packetUBXNAVCLOCK->callbackData;`
`208`	`208`	`}`
`209`	`209`	`delete[] packetUBXNAVCLOCK;`
`210`		`- packetUBXNAVCLOCK = NULL; // Redundant?`
	`210`	`+ packetUBXNAVCLOCK = NULL; // Redundant?`
`211`	`211`	`}`
`212`	`212`
`213`	`213`	`if (packetUBXNAVSVIN != NULL)`
`@@ -217,7 +217,7 @@ void SFE_UBLOX_GNSS::end(void)`
`217`	`217`	`delete[] packetUBXNAVSVIN->callbackData;`
`218`	`218`	`}`
`219`	`219`	`delete[] packetUBXNAVSVIN;`
`220`		`- packetUBXNAVSVIN = NULL; // Redundant?`
	`220`	`+ packetUBXNAVSVIN = NULL; // Redundant?`
`221`	`221`	`}`
`222`	`222`
`223`	`223`	`if (packetUBXNAVRELPOSNED != NULL)`
`@@ -227,7 +227,7 @@ void SFE_UBLOX_GNSS::end(void)`
`227`	`227`	`delete[] packetUBXNAVRELPOSNED->callbackData;`
`228`	`228`	`}`
`229`	`229`	`delete[] packetUBXNAVRELPOSNED;`
`230`		`- packetUBXNAVRELPOSNED = NULL; // Redundant?`
	`230`	`+ packetUBXNAVRELPOSNED = NULL; // Redundant?`
`231`	`231`	`}`
`232`	`232`
`233`	`233`	`if (packetUBXRXMSFRBX != NULL)`
`@@ -237,7 +237,7 @@ void SFE_UBLOX_GNSS::end(void)`
`237`	`237`	`delete[] packetUBXRXMSFRBX->callbackData;`
`238`	`238`	`}`
`239`	`239`	`delete[] packetUBXRXMSFRBX;`
`240`		`- packetUBXRXMSFRBX = NULL; // Redundant?`
	`240`	`+ packetUBXRXMSFRBX = NULL; // Redundant?`
`241`	`241`	`}`
`242`	`242`
`243`	`243`	`if (packetUBXRXMRAWX != NULL)`
`@@ -247,7 +247,7 @@ void SFE_UBLOX_GNSS::end(void)`
`247`	`247`	`delete[] packetUBXRXMRAWX->callbackData;`
`248`	`248`	`}`
`249`	`249`	`delete[] packetUBXRXMRAWX;`
`250`		`- packetUBXRXMRAWX = NULL; // Redundant?`
	`250`	`+ packetUBXRXMRAWX = NULL; // Redundant?`
`251`	`251`	`}`
`252`	`252`
`253`	`253`	`if (packetUBXCFGRATE != NULL)`
`@@ -257,7 +257,7 @@ void SFE_UBLOX_GNSS::end(void)`
`257`	`257`	`delete[] packetUBXCFGRATE->callbackData;`
`258`	`258`	`}`
`259`	`259`	`delete[] packetUBXCFGRATE;`
`260`		`- packetUBXCFGRATE = NULL; // Redundant?`
	`260`	`+ packetUBXCFGRATE = NULL; // Redundant?`
`261`	`261`	`}`
`262`	`262`
`263`	`263`	`if (packetUBXTIMTM2 != NULL)`
`@@ -267,7 +267,7 @@ void SFE_UBLOX_GNSS::end(void)`
`267`	`267`	`delete[] packetUBXTIMTM2->callbackData;`
`268`	`268`	`}`
`269`	`269`	`delete[] packetUBXTIMTM2;`
`270`		`- packetUBXTIMTM2 = NULL; // Redundant?`
	`270`	`+ packetUBXTIMTM2 = NULL; // Redundant?`
`271`	`271`	`}`
`272`	`272`
`273`	`273`	`if (packetUBXESFALG != NULL)`
`@@ -277,7 +277,7 @@ void SFE_UBLOX_GNSS::end(void)`
`277`	`277`	`delete[] packetUBXESFALG->callbackData;`
`278`	`278`	`}`
`279`	`279`	`delete[] packetUBXESFALG;`
`280`		`- packetUBXESFALG = NULL; // Redundant?`
	`280`	`+ packetUBXESFALG = NULL; // Redundant?`
`281`	`281`	`}`
`282`	`282`
`283`	`283`	`if (packetUBXESFSTATUS != NULL)`
`@@ -287,7 +287,7 @@ void SFE_UBLOX_GNSS::end(void)`
`287`	`287`	`delete[] packetUBXESFSTATUS->callbackData;`
`288`	`288`	`}`
`289`	`289`	`delete[] packetUBXESFSTATUS;`
`290`		`- packetUBXESFSTATUS = NULL; // Redundant?`
	`290`	`+ packetUBXESFSTATUS = NULL; // Redundant?`
`291`	`291`	`}`
`292`	`292`
`293`	`293`	`if (packetUBXESFINS != NULL)`
`@@ -297,7 +297,7 @@ void SFE_UBLOX_GNSS::end(void)`
`297`	`297`	`delete[] packetUBXESFINS->callbackData;`
`298`	`298`	`}`
`299`	`299`	`delete[] packetUBXESFINS;`
`300`		`- packetUBXESFINS = NULL; // Redundant?`
	`300`	`+ packetUBXESFINS = NULL; // Redundant?`
`301`	`301`	`}`
`302`	`302`
`303`	`303`	`if (packetUBXESFMEAS != NULL)`
`@@ -307,7 +307,7 @@ void SFE_UBLOX_GNSS::end(void)`
`307`	`307`	`delete[] packetUBXESFMEAS->callbackData;`
`308`	`308`	`}`
`309`	`309`	`delete[] packetUBXESFMEAS;`
`310`		`- packetUBXESFMEAS = NULL; // Redundant?`
	`310`	`+ packetUBXESFMEAS = NULL; // Redundant?`
`311`	`311`	`}`
`312`	`312`
`313`	`313`	`if (packetUBXESFRAW != NULL)`
`@@ -317,7 +317,7 @@ void SFE_UBLOX_GNSS::end(void)`
`317`	`317`	`delete[] packetUBXESFRAW->callbackData;`
`318`	`318`	`}`
`319`	`319`	`delete[] packetUBXESFRAW;`
`320`		`- packetUBXESFRAW = NULL; // Redundant?`
	`320`	`+ packetUBXESFRAW = NULL; // Redundant?`
`321`	`321`	`}`
`322`	`322`
`323`	`323`	`if (packetUBXHNRATT != NULL)`
`@@ -327,7 +327,7 @@ void SFE_UBLOX_GNSS::end(void)`
`327`	`327`	`delete[] packetUBXHNRATT->callbackData;`
`328`	`328`	`}`
`329`	`329`	`delete[] packetUBXHNRATT;`
`330`		`- packetUBXHNRATT = NULL; // Redundant?`
	`330`	`+ packetUBXHNRATT = NULL; // Redundant?`
`331`	`331`	`}`
`332`	`332`
`333`	`333`	`if (packetUBXHNRINS != NULL)`
`@@ -337,7 +337,7 @@ void SFE_UBLOX_GNSS::end(void)`
`337`	`337`	`delete[] packetUBXHNRINS->callbackData;`
`338`	`338`	`}`
`339`	`339`	`delete[] packetUBXHNRINS;`
`340`		`- packetUBXHNRINS = NULL; // Redundant?`
	`340`	`+ packetUBXHNRINS = NULL; // Redundant?`
`341`	`341`	`}`
`342`	`342`
`343`	`343`	`if (packetUBXHNRPVT != NULL)`
`@@ -347,7 +347,7 @@ void SFE_UBLOX_GNSS::end(void)`
`347`	`347`	`delete[] packetUBXHNRPVT->callbackData;`
`348`	`348`	`}`
`349`	`349`	`delete[] packetUBXHNRPVT;`
`350`		`- packetUBXHNRPVT = NULL; // Redundant?`
	`350`	`+ packetUBXHNRPVT = NULL; // Redundant?`
`351`	`351`	`}`
`352`	`352`
`353`	`353`	`}`
`@@ -1435,7 +1435,7 @@ void SFE_UBLOX_GNSS::processRTCMframe(uint8_t incoming)`
`1435`	`1435`	`//This function is called for each byte of an RTCM frame`
`1436`	`1436`	`//Ths user can overwrite this function and process the RTCM frame as they please`
`1437`	`1437`	`//Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster)`
`1438`		`-void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)`
	`1438`	`+void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming) // IGNORE COMPILER WARNING unused parameter 'incoming'`
`1439`	`1439`	`{`
`1440`	`1440`	`//Radio.sendReliable((String)incoming); //An example of passing this byte to a radio`
`1441`	`1441`
`@@ -1458,7 +1458,7 @@ void SFE_UBLOX_GNSS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_`
`1458`	`1458`	`//If incomingUBX is a user-defined custom packet, then the payload size could be different to packetCfgPayloadSize.`
`1459`	`1459`	`//TO DO: update this to prevent an overrun when receiving an automatic message`
`1460`	`1460`	`// and the incomingUBX payload size is smaller than packetCfgPayloadSize.`
`1461`		`- size_t maximum_payload_size;`
	`1461`	`+ uint16_t maximum_payload_size;`
`1462`	`1462`	`if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG)`
`1463`	`1463`	`maximum_payload_size = packetCfgPayloadSize;`
`1464`	`1464`	`else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETAUTO)`
`@@ -2404,7 +2404,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)`
`2404`	`2404`	`packetUBXESFMEAS->data.timeTag = extractLong(msg, 0);`
`2405`	`2405`	`packetUBXESFMEAS->data.flags.all = extractInt(msg, 4);`
`2406`	`2406`	`packetUBXESFMEAS->data.id = extractInt(msg, 6);`
`2407`		`- for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)`
	`2407`	`+ for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas)`
`2408`	`2408`	`&& ((i * 4) < (msg->len - 8)); i++)`
`2409`	`2409`	`{`
`2410`	`2410`	`packetUBXESFMEAS->data.data[i].data.all = extractLong(msg, 8 + (i * 4));`
`@@ -2435,10 +2435,10 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)`
`2435`	`2435`	`//Parse various byte fields into storage - but only if we have memory allocated for it`
`2436`	`2436`	`if (packetUBXESFRAW != NULL)`
`2437`	`2437`	`{`
`2438`		`- for (int i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)`
	`2438`	`+ for (uint16_t i = 0; (i < DEF_NUM_SENS) && ((i * 8) < (msg->len - 4)); i++)`
`2439`	`2439`	`{`
`2440`		`- packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 8 + (i * 8));`
`2441`		`- packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8) + 4);`
	`2440`	`+ packetUBXESFRAW->data.data[i].data.all = extractLong(msg, 4 + (i * 8));`
	`2441`	`+ packetUBXESFRAW->data.data[i].sTag = extractLong(msg, 8 + (i * 8));`
`2442`	`2442`	`}`
`2443`	`2443`
`2444`	`2444`	`//Mark all datums as fresh (not read before)`
`@@ -2468,7 +2468,7 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)`
`2468`	`2468`	`packetUBXESFSTATUS->data.version = extractByte(msg, 4);`
`2469`	`2469`	`packetUBXESFSTATUS->data.fusionMode = extractByte(msg, 12);`
`2470`	`2470`	`packetUBXESFSTATUS->data.numSens = extractByte(msg, 15);`
`2471`		`- for (int i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)`
	`2471`	`+ for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFSTATUS->data.numSens)`
`2472`	`2472`	`&& ((i * 4) < (msg->len - 16)); i++)`
`2473`	`2473`	`{`
`2474`	`2474`	`packetUBXESFSTATUS->data.status[i].sensStatus1.all = extractByte(msg, 16 + (i * 4) + 0);`
`@@ -2771,7 +2771,7 @@ void SFE_UBLOX_GNSS::sendSerialCommand(ubxPacket *outgoingUBX)`
`2771`	`2771`	`_serialPort->write(outgoingUBX->len >> 8); //MSB`
`2772`	`2772`
`2773`	`2773`	`//Write payload.`
`2774`		`- for (int i = 0; i < outgoingUBX->len; i++)`
	`2774`	`+ for (uint16_t i = 0; i < outgoingUBX->len; i++)`
`2775`	`2775`	`{`
`2776`	`2776`	`_serialPort->write(outgoingUBX->payload[i]);`
`2777`	`2777`	`}`
`@@ -2823,7 +2823,7 @@ void SFE_UBLOX_GNSS::printPacket(ubxPacket *packet, boolean alwaysPrintPayload)`
`2823`	`2823`	`{`
`2824`	`2824`	`_debugSerial->print(F(" Payload:"));`
`2825`	`2825`
`2826`		`- for (int x = 0; x < packet->len; x++)`
	`2826`	`+ for (uint16_t x = 0; x < packet->len; x++)`
`2827`	`2827`	`{`
`2828`	`2828`	`_debugSerial->print(F(" "));`
`2829`	`2829`	`_debugSerial->print(packet->payload[x], HEX);`
`@@ -3394,7 +3394,9 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)`
`3394`	`3394`	`// Push (e.g.) RTCM data directly to the module`
`3395`	`3395`	`// Returns true if all numDataBytes were pushed successfully`
`3396`	`3396`	`// Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing.`
`3397`		`-boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)`
	`3397`	`+// Default to using a restart between transmissions. But processors like ESP32 seem to need a stop (#30). Set stop to true to use a stop instead.`
	`3398`	`+// On processors like the ESP32, you can use setI2CTransactionSize to increase the size of each transmission - to e.g. 128 bytes`
	`3399`	`+boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, boolean stop)`
`3398`	`3400`	`{`
`3399`	`3401`	`if (commType == COMM_TYPE_SERIAL)`
`3400`	`3402`	`{`
`@@ -3425,12 +3427,12 @@ boolean SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes)`
`3425`	`3427`
`3426`	`3428`	`if (bytesLeftToWrite > 0)`
`3427`	`3429`	`{`
`3428`		`- if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus.`
`3429`		`- return (false); //Sensor did not ACK`
	`3430`	`+ if (_i2cPort->endTransmission(stop) != 0) //Send a restart or stop command`
	`3431`	`+ return (false); //Sensor did not ACK`
`3430`	`3432`	`}`
`3431`	`3433`	`else`
`3432`	`3434`	`{`
`3433`		`- if (_i2cPort->endTransmission() != 0) //We're done. Release bus.`
	`3435`	`+ if (_i2cPort->endTransmission() != 0) //We're done. Release bus. Always use a stop here`
`3434`	`3436`	`return (false); //Sensor did not ACK`
`3435`	`3437`	`}`
`3436`	`3438`	`}`
`@@ -9709,7 +9711,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint16_t maxWait)`
`9709`	`9711`	`packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.sec = false;`
`9710`	`9712`	`packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;`
`9711`	`9713`	`// assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza`
`9712`		`- uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +`
	`9714`	`+ uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +`
`9713`	`9715`	`DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +`
`9714`	`9716`	`((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +`
`9715`	`9717`	`(uint32_t)packetUBXNAVPVT->data.hour) * 60 +`
`@@ -9736,7 +9738,7 @@ uint32_t SFE_UBLOX_GNSS::getUnixEpoch(uint32_t& microsecond, uint16_t maxWait)`
`9736`	`9738`	`packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.nano = false;`
`9737`	`9739`	`packetUBXNAVPVT->moduleQueried.moduleQueried1.bits.all = false;`
`9738`	`9740`	`// assemble time elements into time_t - credits to Thomas Roell @ https://github.com/GrumpyOldPizza`
`9739`		`- uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +`
	`9741`	`+ uint32_t t = ((((((((uint32_t)packetUBXNAVPVT->data.year - 1970) * 365) + ((((uint32_t)packetUBXNAVPVT->data.year - 1970) + 3) / 4)) +`
`9740`	`9742`	`DAYS_SINCE_MONTH[((uint32_t)packetUBXNAVPVT->data.year - 1970) & 3][(uint32_t)packetUBXNAVPVT->data.month] +`
`9741`	`9743`	`((uint32_t)packetUBXNAVPVT->data.day - 1)) * 24 +`
`9742`	`9744`	`(uint32_t)packetUBXNAVPVT->data.hour) * 60 +`
`@@ -10141,7 +10143,7 @@ uint16_t SFE_UBLOX_GNSS::getMagAcc(uint16_t maxWait)`
`10141`	`10143`	`}`
`10142`	`10144`
`10143`	`10145`	`// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages.`
`10144`		`-int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait)`
	`10146`	`+int32_t SFE_UBLOX_GNSS::getGeoidSeparation(uint16_t maxWait) // IGNORE COMPILER WARNING unused parameter 'maxWait'`
`10145`	`10147`	`{`
`10146`	`10148`	`return (0);`
`10147`	`10149`	`}`
`@@ -10395,7 +10397,7 @@ uint8_t SFE_UBLOX_GNSS::getLeapIndicator(int32_t& timeToLsEvent, uint16_t maxWai`
`10395`	`10397`	`getLeapSecondEvent(maxWait);`
`10396`	`10398`	`packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.validTimeToLsEvent = false; //Since we are about to give this to user, mark this data as stale`
`10397`	`10399`	`packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.lsChange = false;`
`10398`		`- packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;`
	`10400`	`+ packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.timeToLsEvent = false;`
`10399`	`10401`	`packetUBXNAVTIMELS->moduleQueried.moduleQueried.bits.all = false;`
`10400`	`10402`	`timeToLsEvent = packetUBXNAVTIMELS->data.timeToLsEvent;`
`10401`	`10403`	`// returns NTP Leap Indicator`