Merge pull request #165 from sparkfun/release_candidate

Add autoSendCfgValsetAtSpaceRemaining. Update Example9

examples/ZED-F9P/Example9_multiSetVal/Example9_multiSetVal.ino

@@ -66,6 +66,13 @@ void setup()
   //but with multiple messages all in one go using newCfgValset, addCfgValset and sendCfgValset.
   //Original: myGNSS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
 
+  //If we will be sending a large number of key IDs and values, packetCfg could fill up before the CFG_VALSET is sent...
+  //There are three possible solutions:
+  //  Increase the space available by calling myGNSS.setPacketCfgPayloadSize
+  //  Monitor how much space is remaining by calling myGNSS.getCfgValsetSpaceRemaining. Call myGNSS.sendCfgValset(); before packetCfg becomes full.
+  //  Call myGNSS.autoSendCfgValsetAtSpaceRemaining(16); . This will cause the existing CFG_VALSET to be send automatically and a new one created when packetCfg has less than 16 bytes remaining.
+  myGNSS.autoSendCfgValsetAtSpaceRemaining(16); // Trigger an auto-send when packetCfg has less than 16 bytes are remaining
+
   //Begin with newCfgValset
   setValueSuccess &= myGNSS.newCfgValset(); // Defaults to configuring the setting in Flash, RAM and BBR
   //setValueSuccess &= myGNSS.newCfgValset(VAL_LAYER_RAM); //Set this and the following settings in RAM only instead of Flash/RAM/BBR

keywords.txt

@@ -249,6 +249,7 @@ sendCfgValset64	KEYWORD2
 sendCfgValset	KEYWORD2
 getCfgValsetLen	KEYWORD2
 getCfgValsetSpaceRemaining	KEYWORD2
+autoSendCfgValsetAtSpaceRemaining	KEYWORD2
 
 getNAVPOSECEF	KEYWORD2
 setAutoNAVPOSECEF	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.18
+version=2.2.19
 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

@@ -9337,6 +9337,19 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset(uint8_t layer)
 // 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 ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset64: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 12))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9384,6 +9397,19 @@ 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 ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset32: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 8))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9427,6 +9453,19 @@ 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 ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset16: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 6))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9468,6 +9507,19 @@ 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 ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("addCfgValset8: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 5))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9508,6 +9560,19 @@ 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)
 {
+  if ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset64: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 12))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9536,6 +9601,19 @@ 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)
 {
+  if ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset32: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 8))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9564,6 +9642,19 @@ 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)
 {
+  if ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset16: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 6))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9592,6 +9683,19 @@ 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)
 {
+  if ((_autoSendAtSpaceRemaining > 0) && (packetCfg.len >= (packetCfgPayloadSize - _autoSendAtSpaceRemaining)))
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("sendCfgValset8: autosend"));
+#endif
+    sendCommand(&packetCfg);
+    packetCfg.len = 4; // 4 byte header
+    packetCfg.startingSpot = 0;
+    _numCfgKeyIDs = 0;
+    memset(&payloadCfg[4], 0, packetCfgPayloadSize - 4);
+  }
+
   if (packetCfg.len >= (packetCfgPayloadSize - 5))
   {
 #ifndef SFE_UBLOX_REDUCED_PROG_MEM
@@ -9619,10 +9723,16 @@ uint8_t SFE_UBLOX_GNSS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t max
 // Send the UBX-CFG-VALSET ubxPacket
 uint8_t SFE_UBLOX_GNSS::sendCfgValset(uint16_t maxWait)
 {
-  _numCfgKeyIDs = 0;
+  if (_numCfgKeyIDs == 0)
+    return true; // Nothing to send...
 
   // Send VALSET command with this key and value
-  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  bool success = sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT; // We are only expecting an ACK
+
+  if (success)
+    _numCfgKeyIDs = 0;
+
+  return success;
 }
 
 // Return the number of keys in the CfgValset

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -996,6 +996,7 @@ public:
   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
+  void autoSendCfgValsetAtSpaceRemaining(size_t spaceRemaining) { _autoSendAtSpaceRemaining = spaceRemaining; }                   // Cause CFG_VALSET packets to be sent automatically when packetCfg has less than this many bytes available
 
   // get and set functions for all of the "automatic" message processing
 
@@ -1796,6 +1797,9 @@ private:
 
   // Keep track of how many keys have been added to CfgValset
   uint8_t _numCfgKeyIDs = 0;
+
+  // Send the current CFG_VALSET message when packetCfg has less than this many bytes available
+  size_t _autoSendAtSpaceRemaining = 0;
 };
 
 #endif