Merge pull request #163 from sparkfun/release_candidate

v2.2.18

examples/Data_Logging/DataLoggingExample7_OpenLogESP32_SPI_SDIO/DataLoggingExample7_OpenLogESP32_SPI_SDIO.ino

@@ -0,0 +1,340 @@
+/*
+  Configuring the GNSS to automatically send RXM SFRBX and RAWX reports over SPI and log them to file on SD card using full 4-bit SDIO
+  By: Paul Clark
+  SparkFun Electronics
+  Date: October 20th, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the u-blox GNSS to send RXM SFRBX and RAWX reports automatically
+  and log the data to SD card in UBX format.
+  
+  This code is written for the OpenLog ESP32 (DEV-20594) - coming soon!
+
+  Hardware set-up:
+  Close the DSEL jumper on the ZED-F9P breakout - to select SPI mode
+  Connect:
+  OpenLog ESP32 : ZED-F9P
+  GND             GND
+  3V3_SW          3V3
+  SCK  (18)       SCK
+  PICO (23)       PICO (MOSI)
+  POCI (19)       POCI (MISO)
+  33              CS
+
+  ** Please note: this example will only work on u-blox ADR or High Precision GNSS or Time Sync products **
+
+  Data is logged in u-blox UBX format.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  OpenLog ESP32: https://www.sparkfun.com/products/20594
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+*/
+
+#define GNSS_CS 33   // Connect the ZED-F9P CS pin to OpenLog ESP32 pin 33
+#define EN_3V3_SW 32 // The 3.3V_SW regulator Enable pin is connected to D32
+#define STAT_LED 25  // The OpenLog ESP32 STAT LED is connected to pin 25
+#define IMU_CS 5     // The ISM330 IMU CS is connected to pin 5
+#define MAG_CS 27    // The MMC5983 Mag CS is connected to pin 27
+
+#include "FS.h"
+#include "SD_MMC.h"
+File myFile;
+
+#include <SPI.h>
+#define spiPort SPI
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+#define sdWriteSize 2048     // Write data to the SD card in blocks of n*512 bytes
+#define fileBufferSize 65530 // Allocate just under 64KBytes of RAM for UBX message storage
+#define navRate 20           // Set the Nav Rate (Frequency) to 20Hz
+//#define ubxOnly            // Uncomment this line to log UBX (RAWX and SFRBX) only
+uint8_t *myBuffer; // Use myBuffer to hold the data while we write it to SD card
+
+unsigned long lastPrint; // Record when the last Serial print took place
+
+// Note: we'll keep a count of how many SFRBX and RAWX messages arrive - but the count will not be completely accurate.
+// If two or more SFRBX messages arrive together as a group and are processed by one call to checkUblox, the count will
+// only increase by one.
+
+int numSFRBX = 0; // Keep count of how many SFRBX message groups have been received (see note above)
+int numRAWX = 0; // Keep count of how many RAWX message groups have been received (see note above)
+
+// Callback: newSFRBX will be called when new RXM SFRBX data arrives
+// See u-blox_structs.h for the full definition of UBX_RXMSFRBX_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoRXMSFRBXcallback
+//        /                  _____  This _must_ be UBX_RXM_SFRBX_data_t
+//        |                 /               _____ You can use any name you like for the struct
+//        |                 |              /
+//        |                 |              |
+void newSFRBX(UBX_RXM_SFRBX_data_t *ubxDataStruct)
+{
+  numSFRBX++; // Increment the count
+}
+
+// Callback: newRAWX will be called when new RXM RAWX data arrives
+// See u-blox_structs.h for the full definition of UBX_RXMRAWX_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoRXMRAWXcallback
+//        /             _____  This _must_ be UBX_RXM_RAWX_data_t
+//        |            /                _____ You can use any name you like for the struct
+//        |            |               /
+//        |            |               |
+void newRAWX(UBX_RXM_RAWX_data_t *ubxDataStruct)
+{
+  numRAWX++; // Increment the count
+}
+
+void setup()
+{
+  Serial.begin(115200);
+
+  pinMode(STAT_LED, OUTPUT); // Flash the STAT LED each time we write to the SD card
+  digitalWrite(STAT_LED, LOW);
+
+  pinMode(GNSS_CS, OUTPUT);
+  digitalWrite(GNSS_CS, HIGH);
+  pinMode(IMU_CS, OUTPUT);
+  digitalWrite(IMU_CS, HIGH);
+  pinMode(MAG_CS, OUTPUT);
+  digitalWrite(MAG_CS, HIGH);
+
+  spiPort.begin();
+
+  // Do a fake transaction to initialize the SPI pins
+  spiPort.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0));
+  spiPort.transfer(0);
+  spiPort.endTransaction();
+
+  pinMode(EN_3V3_SW, OUTPUT); // Enable power for the microSD card and GNSS
+  digitalWrite(EN_3V3_SW, HIGH);
+  
+  delay(3000); // Allow time for the GNSS and SD card to start up and for Tera Term to reconnect
+  Serial.println(F("SparkFun OpenLog ESP32 GNSS Logging : SPI and SDIO"));
+
+  // -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Initialize the GNSS
+
+  Serial.println(F("Initializing the GNSS..."));
+
+  //myGNSS.enableDebugging(); // Uncomment this line to see helpful debug messages on Serial
+
+  myGNSS.setFileBufferSize(fileBufferSize); // setFileBufferSize must be called _before_ .begin
+
+  // Connect to the u-blox module using SPI port, csPin and speed setting
+  // ublox devices generally work up to 5MHz. We'll use 4MHz for this example:
+  bool begun = false;
+  do
+  {
+    begun = myGNSS.begin(spiPort, GNSS_CS, 4000000);
+    if (!begun)
+    {
+      Serial.println(F("u-blox GNSS not detected on SPI bus."));
+      delay(1000);
+    }
+  }
+  while (!begun);
+  
+  // -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Wait for a 3D fix. Get the date and time for the log file
+
+  //myGNSS.factoryDefault(); delay(5000); // Uncomment this line to reset the module back to its factory defaults
+
+#ifdef ubxOnly
+  myGNSS.setSPIOutput(COM_TYPE_UBX); //Set the SPI port to output only UBX
+#else
+  myGNSS.setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA); //Set the SPI port to output both UBX and NMEA messages
+#endif
+
+  //myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Optional: save (only) the communications port settings to flash and BBR
+
+  Serial.print(F("Waiting for a 3D fix"));
+
+  uint8_t fix = 0;
+
+  do
+  {
+    fix = myGNSS.getFixType();
+    delay(1000);
+    Serial.print(F("."));
+  }
+  while ( fix != 3 ); // Wait for a 3D fix
+
+  Serial.println();
+
+  uint16_t y = myGNSS.getYear();
+  uint8_t M = myGNSS.getMonth();
+  uint8_t d = myGNSS.getDay();
+  uint8_t h = myGNSS.getHour();
+  uint8_t m = myGNSS.getMinute();
+  uint8_t s = myGNSS.getSecond();
+
+  char szBuffer[40] = {'\0'};
+  snprintf(szBuffer, sizeof(szBuffer), "/%04d%02d%02d%02d%02d%02d.ubx", y, M, d, h, m, s);
+
+  Serial.println(F("GNSS initialized."));
+
+  // -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Initialize the SD card. Open the log file
+
+  Serial.println(F("Initializing SD card..."));
+
+  // Begin the SD card
+  if(!SD_MMC.begin())
+  {
+    Serial.println(F("Card mount failed. Freezing..."));
+    while(1);
+  }
+
+  // Open the log file for writing
+  Serial.printf("Log file is: %s\r\n", szBuffer);
+  myFile = SD_MMC.open((const char *)szBuffer, FILE_WRITE);
+  if(!myFile)
+  {
+    Serial.println(F("Failed to open log file for writing. Freezing..."));
+    while(1);
+  }
+
+  Serial.println(F("SD card initialized."));
+
+  // -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Wait for a key press
+
+  while (Serial.available()) // Make sure the Serial buffer is empty
+  {
+    Serial.read();
+  }
+
+  Serial.println(F("Press any key to start logging."));
+
+  while (!Serial.available()) // Wait for the user to press a key
+  {
+    ; // Do nothing
+  }
+
+  delay(100); // Wait, just in case multiple characters were sent
+
+  while (Serial.available()) // Empty the Serial buffer
+  {
+    Serial.read();
+  }
+
+  // -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Enable RAWX and SFRBX
+
+  myGNSS.setAutoRXMSFRBXcallbackPtr(&newSFRBX); // Enable automatic RXM SFRBX messages with callback to newSFRBX
+
+  myGNSS.logRXMSFRBX(); // Enable RXM SFRBX data logging
+
+  myGNSS.setAutoRXMRAWXcallbackPtr(&newRAWX); // Enable automatic RXM RAWX messages with callback to newRAWX
+
+  myGNSS.logRXMRAWX(); // Enable RXM RAWX data logging
+
+  myBuffer = new uint8_t[sdWriteSize]; // Create our own buffer to hold the data while we write it to SD card  
+
+#ifndef ubxOnly
+  myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, navRate); // Ensure the GxGGA (Global positioning system fix data) message is enabled. Send every second.
+  myGNSS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_SPI, navRate); // Ensure the GxGSA (GNSS DOP and Active satellites) message is enabled. Send every second.
+  myGNSS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_SPI, navRate); // Ensure the GxGSV (GNSS satellites in view) message is enabled. Send every second.
+  myGNSS.enableNMEAMessage(UBX_NMEA_GST, COM_PORT_SPI, navRate); // Ensure the GxGST (Position error statistics) message is enabled. Send every second.
+  myGNSS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_SPI, navRate); // Ensure the GxRMC (Recommended minimum: position, velocity and time) message is enabled. Send every second.
+  myGNSS.setNMEALoggingMask(SFE_UBLOX_FILTER_NMEA_GGA | SFE_UBLOX_FILTER_NMEA_GSA | SFE_UBLOX_FILTER_NMEA_GSV | SFE_UBLOX_FILTER_NMEA_GST | SFE_UBLOX_FILTER_NMEA_RMC); // Log only these NMEA messages
+#endif
+
+  myGNSS.setNavigationFrequency(navRate); // Set navigation rate
+
+  Serial.println(F("Press any key to stop logging."));
+
+  lastPrint = millis(); // Initialize lastPrint
+}
+
+void loop()
+{
+  // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
+  myGNSS.checkUblox(); // Check for the arrival of new data and process it.
+  myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
+
+  // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
+  while (myGNSS.fileBufferAvailable() >= sdWriteSize) // Check to see if we have at least sdWriteSize waiting in the buffer
+  {
+    digitalWrite(STAT_LED, HIGH); // Flash the STAT LED each time we write to the SD card
+
+    myGNSS.extractFileBufferData(myBuffer, sdWriteSize); // Extract exactly sdWriteSize bytes from the UBX file buffer and put them into myBuffer
+
+    myFile.write(myBuffer, sdWriteSize); // Write exactly sdWriteSize bytes from myBuffer to the ubxDataFile on the SD card
+
+    // In case the SD writing is slow or there is a lot of data to write, keep checking for the arrival of new data
+    myGNSS.checkUblox(); // Check for the arrival of new data and process it.
+    myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
+
+    digitalWrite(STAT_LED, LOW); // Turn the STAT LED off again
+  }
+
+  // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
+  if (millis() > (lastPrint + 1000)) // Print the message count once per second
+  {
+    uint16_t maxBufferBytes = myGNSS.getMaxFileBufferAvail(); // Get how full the file buffer has been (not how full it is now)
+    float bufferHigh = 100.0 * (float)maxBufferBytes / (float)fileBufferSize;
+
+    Serial.print(F("Message groups received: SFRBX: ")); // Print how many message groups have been received (see note above)
+    Serial.print(numSFRBX);
+    Serial.print(F(" RAWX: "));
+    Serial.print(numRAWX);
+    Serial.print(F("  \tBuffer high tide: "));
+    Serial.print(bufferHigh, 1); // It is a fun thing to watch how full the buffer gets
+    if (bufferHigh > 90.)
+      Serial.println(F("%!!"));
+    else if (bufferHigh > 80.)
+      Serial.println(F("%!"));
+    else
+      Serial.println(F("%"));
+
+    lastPrint = millis(); // Update lastPrint
+  }
+
+  // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
+  if (Serial.available()) // Check if the user wants to stop logging
+  {
+    uint16_t remainingBytes = myGNSS.fileBufferAvailable(); // Check if there are any bytes remaining in the file buffer
+
+    while (remainingBytes > 0) // While there is still data in the file buffer
+    {
+      digitalWrite(STAT_LED, HIGH); // Flash the STAT LED while we write to the SD card
+
+      uint16_t bytesToWrite = remainingBytes; // Write the remaining bytes to SD card sdWriteSize bytes at a time
+      if (bytesToWrite > sdWriteSize)
+      {
+        bytesToWrite = sdWriteSize;
+      }
+
+      myGNSS.extractFileBufferData(myBuffer, bytesToWrite); // Extract bytesToWrite bytes from the UBX file buffer and put them into myBuffer
+
+      myFile.write(myBuffer, bytesToWrite); // Write bytesToWrite bytes from myBuffer to the ubxDataFile on the SD card
+
+      remainingBytes -= bytesToWrite; // Decrement remainingBytes
+    }
+
+    digitalWrite(STAT_LED, LOW); // Turn the STAT LED off
+
+    myFile.close(); // Close the data file
+
+    myGNSS.setNavigationFrequency(1); // Set navigation rate to 1Hz
+
+    myGNSS.disableMessage(UBX_CLASS_RXM, UBX_RXM_RAWX, COM_PORT_SPI);
+    myGNSS.disableMessage(UBX_CLASS_RXM, UBX_RXM_SFRBX, COM_PORT_SPI);
+
+    myGNSS.setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA); // Re-enable NMEA
+
+    Serial.println(F("Logging stopped. Freezing..."));
+    while(1); // Do nothing more
+  }
+
+  // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+}

keywords.txt

@@ -79,6 +79,7 @@ NMEA_ZDA_data_t	KEYWORD1
 #######################################
 
 setPacketCfgPayloadSize	KEYWORD2
+getPacketCfgSpaceRemaining	KEYWORD2
 begin	KEYWORD2
 end	KEYWORD2
 setI2CpollingWait	KEYWORD2
@@ -232,6 +233,7 @@ setVal8	KEYWORD2
 setVal16	KEYWORD2
 setVal32	KEYWORD2
 setVal64	KEYWORD2
+newCfgValset	KEYWORD2
 newCfgValset8	KEYWORD2
 newCfgValset16	KEYWORD2
 newCfgValset32	KEYWORD2
@@ -244,6 +246,9 @@ sendCfgValset8	KEYWORD2
 sendCfgValset16	KEYWORD2
 sendCfgValset32	KEYWORD2
 sendCfgValset64	KEYWORD2
+sendCfgValset	KEYWORD2
+getCfgValsetLen	KEYWORD2
+getCfgValsetSpaceRemaining	KEYWORD2
 
 getNAVPOSECEF	KEYWORD2
 setAutoNAVPOSECEF	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.17
+version=2.2.18
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -627,6 +627,12 @@ bool SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
   return (success);
 }
 
+// Return the number of free bytes remaining in packetCfgPayload
+size_t SFE_UBLOX_GNSS::getPacketCfgSpaceRemaining()
+{
+  return (packetCfgPayloadSize - packetCfg.len);
+}
+
 // Initialize the I2C port
 bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress, uint16_t maxWait, bool assumeSuccess)
 {
@@ -9178,6 +9184,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset64(uint32_t key, uint64_t value, uint8_t lay
   packetCfg.len = 4 + 4 + 8; // 4 byte header, 4 byte key ID, 8 bytes of value
   packetCfg.startingSpot = 0;
 
+  _numCfgKeyIDs = 1;
+
   // Clear all of packet payload
   memset(payloadCfg, 0, packetCfgPayloadSize);
 
@@ -9215,6 +9223,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset32(uint32_t key, uint32_t value, uint8_t lay
   packetCfg.len = 4 + 4 + 4; // 4 byte header, 4 byte key ID, 4 bytes of value
   packetCfg.startingSpot = 0;
 
+  _numCfgKeyIDs = 1;
+
   // Clear all of packet payload
   memset(payloadCfg, 0, packetCfgPayloadSize);
 
@@ -9248,6 +9258,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset16(uint32_t key, uint16_t value, uint8_t lay
   packetCfg.len = 4 + 4 + 2; // 4 byte header, 4 byte key ID, 2 bytes of value
   packetCfg.startingSpot = 0;
 
+  _numCfgKeyIDs = 1;
+
   // Clear all of packet payload
   memset(payloadCfg, 0, packetCfgPayloadSize);
 
@@ -9279,7 +9291,9 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer
   packetCfg.len = 4 + 4 + 1; // 4 byte header, 4 byte key ID, 1 byte value
   packetCfg.startingSpot = 0;
 
-  // Clear all of packet payload
+  _numCfgKeyIDs = 1;
+
+// Clear all of packet payload
   memset(payloadCfg, 0, packetCfgPayloadSize);
 
   payloadCfg[0] = 0;     // Message Version - set to 0
@@ -9298,10 +9312,49 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer
   return (true);
 }
 
+// Start defining a new (empty) UBX-CFG-VALSET ubxPacket
+// Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GNSS::newCfgValset(uint8_t layer)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_VALSET;
+  packetCfg.len = 4; // 4 byte header
+  packetCfg.startingSpot = 0;
+
+  _numCfgKeyIDs = 0;
+
+  // Clear all of packet payload
+  memset(payloadCfg, 0, packetCfgPayloadSize);
+
+  payloadCfg[0] = 0;     // Message Version - set to 0
+  payloadCfg[1] = layer; // By default we ask for the BBR layer
+
+  // All done
+  return (true);
+}
+
 // Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
 // This function takes a full 32-bit key and 64-bit value
 uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
 {
+  if (packetCfg.len >= (packetCfgPayloadSize - 12))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset64: packetCfgPayloadSize reached!"));
+#endif
+    return false;
+  }
+
+  if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset64: key limit reached!"));
+#endif
+    return false;
+  }
+
   // Load key into outgoing payload
   payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
   payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9321,6 +9374,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
   // Update packet length: 4 byte key ID, 8 bytes of value
   packetCfg.len = packetCfg.len + 4 + 8;
 
+  _numCfgKeyIDs++;
+
   // All done
   return (true);
 }
@@ -9329,6 +9384,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
 // This function takes a full 32-bit key and 32-bit value
 uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
 {
+  if (packetCfg.len >= (packetCfgPayloadSize - 8))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset32: packetCfgPayloadSize reached!"));
+#endif
+    return false;
+  }
+
+  if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset32: key limit reached!"));
+#endif
+    return false;
+  }
+
   // Load key into outgoing payload
   payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
   payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9344,6 +9417,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
   // Update packet length: 4 byte key ID, 4 bytes of value
   packetCfg.len = packetCfg.len + 4 + 4;
 
+  _numCfgKeyIDs++;
+
   // All done
   return (true);
 }
@@ -9352,6 +9427,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
 // This function takes a full 32-bit key and 16-bit value
 uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
 {
+  if (packetCfg.len >= (packetCfgPayloadSize - 6))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset16: packetCfgPayloadSize reached!"));
+#endif
+    return false;
+  }
+
+  if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset16: key limit reached!"));
+#endif
+    return false;
+  }
+
   // Load key into outgoing payload
   payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
   payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9365,6 +9458,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
   // Update packet length: 4 byte key ID, 2 bytes of value
   packetCfg.len = packetCfg.len + 4 + 2;
 
+  _numCfgKeyIDs++;
+
   // All done
   return (true);
 }
@@ -9373,6 +9468,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
 // This function takes a full 32-bit key and 8-bit value
 uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
 {
+  if (packetCfg.len >= (packetCfgPayloadSize - 5))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset8: packetCfgPayloadSize reached!"));
+#endif
+    return false;
+  }
+
+  if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset8: key limit reached!"));
+#endif
+    return false;
+  }
+
   // Load key into outgoing payload
   payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
   payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9385,6 +9498,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
   // Update packet length: 4 byte key ID, 1 byte value
   packetCfg.len = packetCfg.len + 4 + 1;
 
+  _numCfgKeyIDs++;
+
   // All done
   return (true);
 }
@@ -9393,8 +9508,25 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
 // This function takes a full 32-bit key and 64-bit value
 uint8_t SFE_UBLOX_GNSS::sendCfgValset64(uint32_t key, uint64_t value, uint16_t maxWait)
 {
-  // Load keyID and value into outgoing payload
+  if (packetCfg.len >= (packetCfgPayloadSize - 12))
-  addCfgValset64(key, value);
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset64: packetCfgPayloadSize reached!"));
+#endif
+  }
+  else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset64: key limit reached!"));
+#endif
+  }
+  else
+    // Load keyID and value into outgoing payload
+    addCfgValset64(key, value);
+
+  _numCfgKeyIDs = 0;
 
   // Send VALSET command with this key and value
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
@@ -9404,8 +9536,25 @@ uint8_t SFE_UBLOX_GNSS::sendCfgValset64(uint32_t key, uint64_t value, uint16_t m
 // This function takes a full 32-bit key and 32-bit value
 uint8_t SFE_UBLOX_GNSS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t maxWait)
 {
-  // Load keyID and value into outgoing payload
+  if (packetCfg.len >= (packetCfgPayloadSize - 8))
-  addCfgValset32(key, value);
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset32: packetCfgPayloadSize reached!"));
+#endif
+  }
+  else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset32: key limit reached!"));
+#endif
+  }
+  else
+    // Load keyID and value into outgoing payload
+    addCfgValset32(key, value);
+
+  _numCfgKeyIDs = 0;
 
   // Send VALSET command with this key and value
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
@@ -9415,8 +9564,25 @@ uint8_t SFE_UBLOX_GNSS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t m
 // This function takes a full 32-bit key and 16-bit value
 uint8_t SFE_UBLOX_GNSS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t maxWait)
 {
-  // Load keyID and value into outgoing payload
+  if (packetCfg.len >= (packetCfgPayloadSize - 6))
-  addCfgValset16(key, value);
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset16: packetCfgPayloadSize reached!"));
+#endif
+  }
+  else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset16: key limit reached!"));
+#endif
+  }
+  else
+    // Load keyID and value into outgoing payload
+    addCfgValset16(key, value);
+
+  _numCfgKeyIDs = 0;
 
   // Send VALSET command with this key and value
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
@@ -9426,13 +9592,51 @@ uint8_t SFE_UBLOX_GNSS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t m
 // This function takes a full 32-bit key and 8-bit value
 uint8_t SFE_UBLOX_GNSS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxWait)
 {
-  // Load keyID and value into outgoing payload
+  if (packetCfg.len >= (packetCfgPayloadSize - 5))
-  addCfgValset8(key, value);
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset8: packetCfgPayloadSize reached!"));
+#endif
+  }
+  else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset8: key limit reached!"));
+#endif
+  }
+  else
+    // Load keyID and value into outgoing payload
+    addCfgValset8(key, value);
+
+  _numCfgKeyIDs = 0;
 
   // Send VALSET command with this key and value
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+// Send the UBX-CFG-VALSET ubxPacket
+uint8_t SFE_UBLOX_GNSS::sendCfgValset(uint16_t maxWait)
+{
+  _numCfgKeyIDs = 0;
+
+  // Send VALSET command with this key and value
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+// Return the number of keys in the CfgValset
+uint8_t SFE_UBLOX_GNSS::getCfgValsetLen()
+{
+  return _numCfgKeyIDs;
+}
+
+// Return the number of free bytes remaining in packetCfgPayload
+size_t SFE_UBLOX_GNSS::getCfgValsetSpaceRemaining()
+{
+  return getPacketCfgSpaceRemaining();
+}
+
 //=-=-=-=-=-=-=-= "Automatic" Messages =-=-=-=-=-=-=-==-=-=-=-=-=-=-=
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -664,6 +664,7 @@ public:
 
   // New in v2.0: allow the payload size for packetCfg to be changed
   bool setPacketCfgPayloadSize(size_t payloadSize); // Set packetCfgPayloadSize
+  size_t getPacketCfgSpaceRemaining();              // Returns the number of free bytes remaining in packetCfgPayload
 
   // 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.
@@ -979,6 +980,7 @@ public:
   uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = defaultMaxWait);             // Sets the 16-bit value at a given group/id/size location
   uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = defaultMaxWait);             // Sets the 32-bit value at a given group/id/size location
   uint8_t setVal64(uint32_t keyID, uint64_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = defaultMaxWait);             // Sets the 64-bit value at a given group/id/size location
+  uint8_t newCfgValset(uint8_t layer = VAL_LAYER_ALL);                                                                            // Create a new, empty UBX-CFG-VALSET. Add entries with addCfgValset8/16/32/64
   uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL);                                            // Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
   uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL);                                          // Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
   uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL);                                          // Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
@@ -991,6 +993,9 @@ public:
   uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = defaultMaxWait);                                     // Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
   uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = defaultMaxWait);                                     // Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
   uint8_t sendCfgValset64(uint32_t keyID, uint64_t value, uint16_t maxWait = defaultMaxWait);                                     // Add the final KeyID and 64-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
+  uint8_t sendCfgValset(uint16_t maxWait = defaultMaxWait);                                                                       // Send the CfgValset (UBX-CFG-VALSET) construct
+  uint8_t getCfgValsetLen();                                                                                                      // Returns the length of the current CfgValset construct as number-of-keyIDs
+  size_t getCfgValsetSpaceRemaining();                                                                                            // Returns the number of free bytes remaining in packetCfg
 
   // get and set functions for all of the "automatic" message processing
 
@@ -1402,12 +1407,12 @@ public:
   // Helper functions for HPPOSECEF
 
   uint32_t getPositionAccuracy(uint16_t maxWait = defaultMaxWait); // Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
-  int32_t getHighResECEFX(uint16_t maxWait = defaultMaxWait); // Returns the ECEF X coordinate (cm)
+  int32_t getHighResECEFX(uint16_t maxWait = defaultMaxWait);      // Returns the ECEF X coordinate (cm)
-  int32_t getHighResECEFY(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Y coordinate (cm)
+  int32_t getHighResECEFY(uint16_t maxWait = defaultMaxWait);      // Returns the ECEF Y coordinate (cm)
-  int32_t getHighResECEFZ(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Z coordinate (cm)
+  int32_t getHighResECEFZ(uint16_t maxWait = defaultMaxWait);      // Returns the ECEF Z coordinate (cm)
-  int8_t getHighResECEFXHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF X coordinate High Precision Component (0.1 mm)
+  int8_t getHighResECEFXHp(uint16_t maxWait = defaultMaxWait);     // Returns the ECEF X coordinate High Precision Component (0.1 mm)
-  int8_t getHighResECEFYHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Y coordinate High Precision Component (0.1 mm)
+  int8_t getHighResECEFYHp(uint16_t maxWait = defaultMaxWait);     // Returns the ECEF Y coordinate High Precision Component (0.1 mm)
-  int8_t getHighResECEFZHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Z coordinate High Precision Component (0.1 mm)
+  int8_t getHighResECEFZHp(uint16_t maxWait = defaultMaxWait);     // Returns the ECEF Z coordinate High Precision Component (0.1 mm)
 
   // Helper functions for HPPOSLLH
 
@@ -1788,6 +1793,9 @@ private:
   // .begin will return true if the assumeSuccess parameter is true and if _signsOfLife is true
   // _signsOfLife is set to true when: a valid UBX message is seen; a valig NMEA header is seen.
   bool _signsOfLife;
+
+  // Keep track of how many keys have been added to CfgValset
+  uint8_t _numCfgKeyIDs = 0;
 };
 
 #endif

src/u-blox_config_keys.h

@@ -43,6 +43,10 @@
 #ifndef __u_blox_config_keys_h__
 #define __u_blox_config_keys_h__
 
+// Define the maximum length of a multi-CfgValset construct
+// "This message is limited to containing a maximum of 64 key-value pairs"
+const uint8_t CFG_VALSET_MAX_KEYS = 64;
+
 // The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
 const uint8_t VAL_SIZE_1 = 0x01;  // One bit
 const uint8_t VAL_SIZE_8 = 0x02;  // One byte