Add setDynamicSPARTNKey

keywords.txt

@@ -178,6 +178,9 @@ setAckAiding	KEYWORD2
 getAopCfg	KEYWORD2
 setAopCfg	KEYWORD2
 
+setDynamicSPARTNKey	KEYWORD2
+setDynamicSPARTNKeys	KEYWORD2
+
 createKey	KEYWORD2
 getVal	KEYWORD2
 getVal8	KEYWORD2

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -436,14 +436,17 @@ void SFE_UBLOX_GNSS::end(void)
 
 //Allow the user to change packetCfgPayloadSize. Handy if you want to process big messages like RAWX
 //This can be called before .begin if required / desired
-void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
+bool SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
 {
+  bool success = true;
+
   if ((payloadSize == 0) && (payloadCfg != NULL))
   {
     // Zero payloadSize? Dangerous! But we'll free the memory anyway...
     delete[] payloadCfg; // Created with new[]
     payloadCfg = NULL; // Redundant?
     packetCfg.payload = payloadCfg;
+    packetCfgPayloadSize = payloadSize;
     if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
       _debugSerial->println(F("setPacketCfgPayloadSize: Zero payloadSize!"));
   }
@@ -453,24 +456,37 @@ void SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
     payloadCfg = new uint8_t[payloadSize];
     packetCfg.payload = payloadCfg;
     if (payloadCfg == NULL)
+    {
+      success = false;
+      packetCfgPayloadSize = 0;
       if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
         _debugSerial->println(F("setPacketCfgPayloadSize: RAM alloc failed!"));
     }
+    else
+      packetCfgPayloadSize = payloadSize;
+  }
 
   else //Memory has already been allocated - so resize
   {
     uint8_t *newPayload = new uint8_t[payloadSize];
-    for (size_t i = 0; (i < payloadSize) && (i < packetCfgPayloadSize); i++) // Copy as much existing data as we can
+
-      newPayload[i] = payloadCfg[i];
+    if (newPayload == NULL) // Check if the alloc was successful
-    delete[] payloadCfg; // Created with new[]
+    {
-    payloadCfg = newPayload;
+      success = false; // Report failure. Don't change payloadCfg, packetCfg.payload or packetCfgPayloadSize
-    packetCfg.payload = payloadCfg;
-    if (payloadCfg == NULL)
       if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
         _debugSerial->println(F("setPacketCfgPayloadSize: RAM resize failed!"));
     }
+    else
+    {
+      memcpy(newPayload, payloadCfg, payloadSize <= packetCfgPayloadSize ? payloadSize : packetCfgPayloadSize); // Copy as much existing data as we can
+      delete[] payloadCfg; // Free payloadCfg. Created with new[]
+      payloadCfg = newPayload; // Point to the newPayload
+      packetCfg.payload = payloadCfg; // Update the packet pointer
+      packetCfgPayloadSize = payloadSize; // Update the packet payload size
+    }
+  }
 
-  packetCfgPayloadSize = payloadSize;
+  return (success);
 }
 
 //Initialize the I2C port
@@ -7469,6 +7485,108 @@ bool SFE_UBLOX_GNSS::setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr, uint16_t m
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+//SPARTN dynamic keys
+//"When the receiver boots, the host should send 'current' and 'next' keys in one message." - Use setDynamicSPARTNKeys for this.
+//"Every time the 'current' key is expired, 'next' takes its place."
+//"Therefore the host should then retrieve the new 'next' key and send only that." - Use setDynamicSPARTNKey for this.
+//The key can be provided in binary format or in ASCII Hex format, but in both cases keyLengthBytes _must_ represent the binary key length in bytes.
+bool SFE_UBLOX_GNSS::setDynamicSPARTNKey(uint8_t keyLengthBytes, uint16_t validFromWno, uint32_t validFromTow, const uint8_t *key, uint16_t maxWait)
+{
+  // Check if all keyLengthBytes are ASCII Hex 0-9, a-f, A-F
+  bool isASCIIHex = true;
+  uint16_t i = 0;
+  while((i < (uint16_t)keyLengthBytes) && (isASCIIHex == true))
+  {
+    if (((key[i] >= '0') && (key[i] <= '9')) || ((key[i] >= 'a') && (key[i] <= 'f')) || ((key[i] >= 'A') && (key[i] <= 'F')))
+      i++; // Keep checking if data is all ASCII Hex
+    else
+      isASCIIHex = false; // Data is binary
+  }
+  if (isASCIIHex) // Check the second half of the ASCII Hex key
+  {
+    while((i < ((uint16_t)keyLengthBytes * 2) && (isASCIIHex == true)))
+    {
+      if (((key[i] >= '0') && (key[i] <= '9')) || ((key[i] >= 'a') && (key[i] <= 'f')) || ((key[i] >= 'A') && (key[i] <= 'F')))
+        i++; // Keep checking if data is all ASCII Hex
+      else
+        isASCIIHex = false; // Data is binary
+    }
+  }
+
+  // Check if there is room for the key in packetCfg. Resize the buffer if not.
+  size_t payloadLength = (size_t)keyLengthBytes + 12;
+  if (packetCfgPayloadSize < payloadLength)
+  {
+    if (!setPacketCfgPayloadSize(payloadLength)) // Check if the resize was successful
+    {
+      return (false); 
+    }
+  }
+
+  // Copy the key etc. into packetCfg
+  packetCfg.cls = UBX_CLASS_RXM;
+  packetCfg.id = UBX_RXM_SPARTNKEY;
+  packetCfg.len = payloadLength;
+  packetCfg.startingSpot = 0;
+
+  payloadCfg[0] = 0x01; // version
+  payloadCfg[1] = 0x01; // numKeys
+  payloadCfg[2] = 0x00; // reserved0
+  payloadCfg[3] = 0x00; // reserved0
+  payloadCfg[4] = 0x00; // reserved1
+  payloadCfg[5] = keyLengthBytes;
+  payloadCfg[6] = validFromWno & 0xFF; // validFromWno little-endian
+  payloadCfg[7] = validFromWno >> 8;
+  payloadCfg[8] = validFromTow & 0xFF; // validFromTow little-endian
+  payloadCfg[9] = (validFromTow >> 8) & 0xFF;
+  payloadCfg[10] = (validFromTow >> 16) & 0xFF;
+  payloadCfg[11] = (validFromTow >> 24) & 0xFF;
+
+  if (isASCIIHex) // Convert ASCII Hex key to binary
+  {
+    for(i = 0; i < ((uint16_t)keyLengthBytes * 2); i += 2)
+    {
+      if ((key[i] >= '0') && (key[i] <= '9'))
+      {
+        payloadCfg[12 + (i >> 1)] = (key[i] - '0') << 4;
+      }
+      else if ((key[i] >= 'a') && (key[i] <= 'f'))
+      {
+        payloadCfg[12 + (i >> 1)] = (key[i] + 10 - 'a') << 4;
+      }
+      else // if ((key[i] >= 'A') && (key[i] <= 'F'))
+      {
+        payloadCfg[12 + (i >> 1)] = (key[i] + 10 - 'A') << 4;
+      }
+
+      if ((key[i + 1] >= '0') && (key[i + 1] <= '9'))
+      {
+        payloadCfg[12 + (i >> 1)] |= key[i + 1] - '0';
+      }
+      else if ((key[i + 1] >= 'a') && (key[i + 1] <= 'f'))
+      {
+        payloadCfg[12 + (i >> 1)] |= key[i + 1] + 10 - 'a';
+      }
+      else // if ((key[i + 1] >= 'A') && (key[i + 1] <= 'F'))
+      {
+        payloadCfg[12 + (i >> 1)] |= key[i + 1] + 10 - 'A';
+      }
+    }
+  }
+  else // Binary key
+  {
+    memcpy(&payloadCfg[12], key, keyLengthBytes);
+  }
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+bool SFE_UBLOX_GNSS::setDynamicSPARTNKeys(uint8_t keyLengthBytes1, uint16_t validFromWno1, uint32_t validFromTow1, const uint8_t *key1,
+                                          uint8_t keyLengthBytes2, uint16_t validFromWno2, uint32_t validFromTow2, const uint8_t *key2, uint16_t maxWait)
+{
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
 // CONFIGURATION INTERFACE (protocol v27 and above)
 
 //Form 32-bit key from group/id/size

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -338,6 +338,8 @@ const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
 const uint8_t UBX_MON_RF = 0x38;	//RF information
 const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
 const uint8_t UBX_MON_RXR = 0x21;	//Receiver Status Information
+const uint8_t UBX_MON_SPAN = 0x31;	//Signal characteristics
+const uint8_t UBX_MON_SYS = 0x39; 	//Current system performance information
 const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
 const uint8_t UBX_MON_VER = 0x04;	//Receiver/Software Version. Used for obtaining Protocol Version.
 
@@ -352,6 +354,7 @@ const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in EC
 const uint8_t UBX_NAV_HPPOSLLH = 0x14;	//High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
 const uint8_t UBX_NAV_ODO = 0x09;		//Odometer Solution
 const uint8_t UBX_NAV_ORB = 0x34;		//GNSS Orbit Database Info
+const uint8_t UBX_NAV_PL = 0x62;		//Protection Level Information
 const uint8_t UBX_NAV_POSECEF = 0x01;	//Position Solution in ECEF
 const uint8_t UBX_NAV_POSLLH = 0x02;	//Geodetic Position Solution
 const uint8_t UBX_NAV_PVT = 0x07;		//All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
@@ -374,6 +377,7 @@ const uint8_t UBX_NAV_AOPSTATUS = 0x60; //AssistNow Autonomous status
 
 //Class: RXM
 //The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
+const uint8_t UBX_RXM_COR = 0x34; 	// Differential correction input status
 const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
 const uint8_t UBX_RXM_PMP = 0x72; 	//PMP raw data (NEO-D9S) (two different versions) (packet size for version 0x01 is variable)
 const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two different packet sizes)
@@ -382,6 +386,7 @@ const uint8_t UBX_RXM_RLM = 0x59;	//Galileo SAR Short-RLM report (two different
 const uint8_t UBX_RXM_RTCM = 0x32;	//RTCM input status
 const uint8_t UBX_RXM_SFRBX = 0x13; //Broadcast Navigation Data Subframe
 const uint8_t UBX_RXM_SPARTN = 0x33; //SPARTN input status
+const uint8_t UBX_RXM_SPARTNKEY = 0x36; //Poll/transfer dynamic SPARTN keys
 
 //Class: SEC
 //The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
@@ -621,7 +626,7 @@ public:
 #endif
 
 	//New in v2.0: allow the payload size for packetCfg to be changed
-	void setPacketCfgPayloadSize(size_t payloadSize); // Set packetCfgPayloadSize
+	bool setPacketCfgPayloadSize(size_t payloadSize); // Set packetCfgPayloadSize
 
 	//Begin communication with the GNSS. Advanced users can assume success if required. Useful if the port is already outputting messages at high navigation rate.
 	//Begin will then return true if "signs of life" have been seen: reception of _any_ valid UBX packet or _any_ valid NMEA header.
@@ -892,6 +897,15 @@ public:
 	uint8_t getAopCfg(uint16_t maxWait = defaultMaxWait); // Get the AssistNow Autonomous configuration (aopCfg) - returns 255 if the sendCommand fails
 	bool setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr = 0, uint16_t maxWait = defaultMaxWait); // Set the aopCfg byte and the aopOrdMaxErr word
 
+	//SPARTN dynamic keys
+	//"When the receiver boots, the host should send 'current' and 'next' keys in one message." - Use setDynamicSPARTNKeys for this.
+	//"Every time the 'current' key is expired, 'next' takes its place."
+	//"Therefore the host should then retrieve the new 'next' key and send only that." - Use setDynamicSPARTNKey for this.
+	//The key can be provided in binary format or in ASCII Hex format, but in both cases keyLengthBytes _must_ represent the binary key length in bytes.
+	bool setDynamicSPARTNKey(uint8_t keyLengthBytes, uint16_t validFromWno, uint32_t validFromTow, const uint8_t *key, uint16_t maxWait = defaultMaxWait);
+	bool setDynamicSPARTNKeys(uint8_t keyLengthBytes1, uint16_t validFromWno1, uint32_t validFromTow1, const uint8_t *key1,
+							  uint8_t keyLengthBytes2, uint16_t validFromWno2, uint32_t validFromTow2, const uint8_t *key2, uint16_t maxWait = defaultMaxWait);
+
 	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
 
 	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.

src/u-blox_config_keys.h

@@ -382,10 +382,10 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART1 = 0x2091038c;		// Output rate
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART2 = 0x2091038d;	// Output rate of the UBX-MON-SPAN message on port UART2
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_USB = 0x2091038e;		// Output rate of the UBX-MON-SPAN message on port USB
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SYS_I2C = 0x2091069d; // Output rate of the UBX-MON-SYS message on port I2C
-const uint32_t UBLOX_CFG_MSGOUT_UBXUBX_MON_SYS_SPI = 0x209106a1; // Output rate of the UBX-MON-SYS message on port SPI
+const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SYS_SPI = 0x209106a1; // Output rate of the UBX-MON-SYS message on port SPI
-const uint32_t UBLOX_CFG_MSGOUT_UBXUBX_MON_SYS_UART1 = 0x2091069e; // Output rate of the UBX-MON-SYS message on port UART1
+const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SYS_UART1 = 0x2091069e; // Output rate of the UBX-MON-SYS message on port UART1
-const uint32_t UBLOX_CFG_MSGOUT_UBXUBX_MON_SYS_UART2 = 0x2091069f; // Output rate of the UBX-MON-SYS message on port UART2
+const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SYS_UART2 = 0x2091069f; // Output rate of the UBX-MON-SYS message on port UART2
-const uint32_t UBLOX_CFG_MSGOUT_UBXUBX_MON_SYS_USB = 0x209106a0; // Output rate of the UBX-MON-SYS message on port USB
+const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SYS_USB = 0x209106a0; // Output rate of the UBX-MON-SYS message on port USB
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_I2C = 0x2091019b;			// Output rate of the UBX-MON-TXBUF message on port I2C
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_SPI = 0x2091019f;			// Output rate of the UBX-MON-TXBUF message on port SPI
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART1 = 0x2091019c;		// Output rate of the UBX-MON-TXBUF message on port UART1
@@ -436,11 +436,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_SPI = 0x20910014;				// Output rate
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART1 = 0x20910011;			// Output rate of the UBX-NAV-ORB message on port UART1
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART2 = 0x20910012;			// Output rate of the UBX-NAV-ORB message on port UART2
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_USB = 0x20910013;				// Output rate of the UBX-NAV-ORB message on port USB
-const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_I2C 0x20910415; // Output rate of the UBX-NAV-PL message on port I2C
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_I2C = 0x20910415; // Output rate of the UBX-NAV-PL message on port I2C
-const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_SPI 0x20910419; // Output rate of the UBX-NAV-PL message on port SPI
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_SPI = 0x20910419; // Output rate of the UBX-NAV-PL message on port SPI
-const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART1 0x20910416; // Output rate of the UBX-NAV-PL message on port UART1
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART1 = 0x20910416; // Output rate of the UBX-NAV-PL message on port UART1
-const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART2 0x20910417; // Output rate of the UBX-NAV-PL message on port UART2
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART2 = 0x20910417; // Output rate of the UBX-NAV-PL message on port UART2
-const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_USB 0x20910418; // Output rate of the UBX-NAV-PL message on port USB
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PL_USB = 0x20910418; // Output rate of the UBX-NAV-PL message on port USB
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_I2C = 0x20910024;		// Output rate of the UBX-NAV-POSECEF message on port I2C
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_SPI = 0x20910028;	// Output rate of the UBX-NAV-POSECEF message on port SPI
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART1 = 0x20910025;// Output rate of the UBX-NAV-POSECEF message on port UART1