Add newCfgValset, sendCfgValset, getCfgValsetLen

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

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);
 
@@ -9279,6 +9291,8 @@ 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;
 
+  _numCfgKeyIDs = 1;
+
 // Clear all of packet payload
   memset(payloadCfg, 0, packetCfgPayloadSize);
 
@@ -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);
 }
@@ -9393,9 +9508,26 @@ 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 (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("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
 }
@@ -9404,9 +9536,26 @@ 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 (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("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
 }
@@ -9415,9 +9564,26 @@ 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 (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("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)
 {
+  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("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
 
@@ -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