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PaulZCPaulZC
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Add newCfgValset, sendCfgValset, getCfgValsetLen
1 parent 0e2a02b commit 93f0aee

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4 files changed

+236
-15
lines changed

4 files changed

+236
-15
lines changed

‎keywords.txt‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -79,6 +79,7 @@ NMEA_ZDA_data_t KEYWORD1
7979
#######################################
8080

8181
setPacketCfgPayloadSize KEYWORD2
82+
getPacketCfgSpaceRemaining KEYWORD2
8283
begin KEYWORD2
8384
end KEYWORD2
8485
setI2CpollingWait KEYWORD2
@@ -232,6 +233,7 @@ setVal8 KEYWORD2
232233
setVal16 KEYWORD2
233234
setVal32 KEYWORD2
234235
setVal64 KEYWORD2
236+
newCfgValset KEYWORD2
235237
newCfgValset8 KEYWORD2
236238
newCfgValset16 KEYWORD2
237239
newCfgValset32 KEYWORD2
@@ -244,6 +246,9 @@ sendCfgValset8 KEYWORD2
244246
sendCfgValset16 KEYWORD2
245247
sendCfgValset32 KEYWORD2
246248
sendCfgValset64 KEYWORD2
249+
sendCfgValset KEYWORD2
250+
getCfgValsetLen KEYWORD2
251+
getCfgValsetSpaceRemaining KEYWORD2
247252

248253
getNAVPOSECEF KEYWORD2
249254
setAutoNAVPOSECEF KEYWORD2

‎src/SparkFun_u-blox_GNSS_Arduino_Library.cpp‎

Lines changed: 213 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -627,6 +627,12 @@ bool SFE_UBLOX_GNSS::setPacketCfgPayloadSize(size_t payloadSize)
627627
return (success);
628628
}
629629

630+
// Return the number of free bytes remaining in packetCfgPayload
631+
size_t SFE_UBLOX_GNSS::getPacketCfgSpaceRemaining()
632+
{
633+
return (packetCfgPayloadSize - packetCfg.len);
634+
}
635+
630636
// Initialize the I2C port
631637
bool SFE_UBLOX_GNSS::begin(TwoWire &wirePort, uint8_t deviceAddress, uint16_t maxWait, bool assumeSuccess)
632638
{
@@ -9178,6 +9184,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset64(uint32_t key, uint64_t value, uint8_t lay
91789184
packetCfg.len = 4 + 4 + 8; // 4 byte header, 4 byte key ID, 8 bytes of value
91799185
packetCfg.startingSpot = 0;
91809186

9187+
_numCfgKeyIDs = 1;
9188+
91819189
// Clear all of packet payload
91829190
memset(payloadCfg, 0, packetCfgPayloadSize);
91839191

@@ -9215,6 +9223,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset32(uint32_t key, uint32_t value, uint8_t lay
92159223
packetCfg.len = 4 + 4 + 4; // 4 byte header, 4 byte key ID, 4 bytes of value
92169224
packetCfg.startingSpot = 0;
92179225

9226+
_numCfgKeyIDs = 1;
9227+
92189228
// Clear all of packet payload
92199229
memset(payloadCfg, 0, packetCfgPayloadSize);
92209230

@@ -9248,6 +9258,8 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset16(uint32_t key, uint16_t value, uint8_t lay
92489258
packetCfg.len = 4 + 4 + 2; // 4 byte header, 4 byte key ID, 2 bytes of value
92499259
packetCfg.startingSpot = 0;
92509260

9261+
_numCfgKeyIDs = 1;
9262+
92519263
// Clear all of packet payload
92529264
memset(payloadCfg, 0, packetCfgPayloadSize);
92539265

@@ -9279,7 +9291,9 @@ uint8_t SFE_UBLOX_GNSS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer
92799291
packetCfg.len = 4 + 4 + 1; // 4 byte header, 4 byte key ID, 1 byte value
92809292
packetCfg.startingSpot = 0;
92819293

9282-
// Clear all of packet payload
9294+
_numCfgKeyIDs = 1;
9295+
9296+
// Clear all of packet payload
92839297
memset(payloadCfg, 0, packetCfgPayloadSize);
92849298

92859299
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
92989312
return (true);
92999313
}
93009314

9315+
// Start defining a new (empty) UBX-CFG-VALSET ubxPacket
9316+
// Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
9317+
uint8_t SFE_UBLOX_GNSS::newCfgValset(uint8_t layer)
9318+
{
9319+
packetCfg.cls = UBX_CLASS_CFG;
9320+
packetCfg.id = UBX_CFG_VALSET;
9321+
packetCfg.len = 4; // 4 byte header
9322+
packetCfg.startingSpot = 0;
9323+
9324+
_numCfgKeyIDs = 0;
9325+
9326+
// Clear all of packet payload
9327+
memset(payloadCfg, 0, packetCfgPayloadSize);
9328+
9329+
payloadCfg[0] = 0; // Message Version - set to 0
9330+
payloadCfg[1] = layer; // By default we ask for the BBR layer
9331+
9332+
// All done
9333+
return (true);
9334+
}
9335+
93019336
// Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket
93029337
// This function takes a full 32-bit key and 64-bit value
93039338
uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
93049339
{
9340+
if (packetCfg.len >= (packetCfgPayloadSize - 12))
9341+
{
9342+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9343+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9344+
_debugSerial->println(F("addCfgValset64: packetCfgPayloadSize reached!"));
9345+
#endif
9346+
return false;
9347+
}
9348+
9349+
if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9350+
{
9351+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9352+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9353+
_debugSerial->println(F("addCfgValset64: key limit reached!"));
9354+
#endif
9355+
return false;
9356+
}
9357+
93059358
// Load key into outgoing payload
93069359
payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
93079360
payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9321,6 +9374,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
93219374
// Update packet length: 4 byte key ID, 8 bytes of value
93229375
packetCfg.len = packetCfg.len + 4 + 8;
93239376

9377+
_numCfgKeyIDs++;
9378+
93249379
// All done
93259380
return (true);
93269381
}
@@ -9329,6 +9384,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset64(uint32_t key, uint64_t value)
93299384
// This function takes a full 32-bit key and 32-bit value
93309385
uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
93319386
{
9387+
if (packetCfg.len >= (packetCfgPayloadSize - 8))
9388+
{
9389+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9390+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9391+
_debugSerial->println(F("addCfgValset32: packetCfgPayloadSize reached!"));
9392+
#endif
9393+
return false;
9394+
}
9395+
9396+
if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9397+
{
9398+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9399+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9400+
_debugSerial->println(F("addCfgValset32: key limit reached!"));
9401+
#endif
9402+
return false;
9403+
}
9404+
93329405
// Load key into outgoing payload
93339406
payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
93349407
payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9344,6 +9417,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
93449417
// Update packet length: 4 byte key ID, 4 bytes of value
93459418
packetCfg.len = packetCfg.len + 4 + 4;
93469419

9420+
_numCfgKeyIDs++;
9421+
93479422
// All done
93489423
return (true);
93499424
}
@@ -9352,6 +9427,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset32(uint32_t key, uint32_t value)
93529427
// This function takes a full 32-bit key and 16-bit value
93539428
uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
93549429
{
9430+
if (packetCfg.len >= (packetCfgPayloadSize - 6))
9431+
{
9432+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9433+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9434+
_debugSerial->println(F("addCfgValset16: packetCfgPayloadSize reached!"));
9435+
#endif
9436+
return false;
9437+
}
9438+
9439+
if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9440+
{
9441+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9442+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9443+
_debugSerial->println(F("addCfgValset16: key limit reached!"));
9444+
#endif
9445+
return false;
9446+
}
9447+
93559448
// Load key into outgoing payload
93569449
payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
93579450
payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9365,6 +9458,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
93659458
// Update packet length: 4 byte key ID, 2 bytes of value
93669459
packetCfg.len = packetCfg.len + 4 + 2;
93679460

9461+
_numCfgKeyIDs++;
9462+
93689463
// All done
93699464
return (true);
93709465
}
@@ -9373,6 +9468,24 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset16(uint32_t key, uint16_t value)
93739468
// This function takes a full 32-bit key and 8-bit value
93749469
uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
93759470
{
9471+
if (packetCfg.len >= (packetCfgPayloadSize - 5))
9472+
{
9473+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9474+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9475+
_debugSerial->println(F("addCfgValset8: packetCfgPayloadSize reached!"));
9476+
#endif
9477+
return false;
9478+
}
9479+
9480+
if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9481+
{
9482+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9483+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9484+
_debugSerial->println(F("addCfgValset8: key limit reached!"));
9485+
#endif
9486+
return false;
9487+
}
9488+
93769489
// Load key into outgoing payload
93779490
payloadCfg[packetCfg.len + 0] = key >> 8 * 0; // Key LSB
93789491
payloadCfg[packetCfg.len + 1] = key >> 8 * 1;
@@ -9385,6 +9498,8 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
93859498
// Update packet length: 4 byte key ID, 1 byte value
93869499
packetCfg.len = packetCfg.len + 4 + 1;
93879500

9501+
_numCfgKeyIDs++;
9502+
93889503
// All done
93899504
return (true);
93909505
}
@@ -9393,8 +9508,25 @@ uint8_t SFE_UBLOX_GNSS::addCfgValset8(uint32_t key, uint8_t value)
93939508
// This function takes a full 32-bit key and 64-bit value
93949509
uint8_t SFE_UBLOX_GNSS::sendCfgValset64(uint32_t key, uint64_t value, uint16_t maxWait)
93959510
{
9396-
// Load keyID and value into outgoing payload
9397-
addCfgValset64(key, value);
9511+
if (packetCfg.len >= (packetCfgPayloadSize - 12))
9512+
{
9513+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9514+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9515+
_debugSerial->println(F("sendCfgValset64: packetCfgPayloadSize reached!"));
9516+
#endif
9517+
}
9518+
else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9519+
{
9520+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9521+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9522+
_debugSerial->println(F("sendCfgValset64: key limit reached!"));
9523+
#endif
9524+
}
9525+
else
9526+
// Load keyID and value into outgoing payload
9527+
addCfgValset64(key, value);
9528+
9529+
_numCfgKeyIDs = 0;
93989530

93999531
// Send VALSET command with this key and value
94009532
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
94049536
// This function takes a full 32-bit key and 32-bit value
94059537
uint8_t SFE_UBLOX_GNSS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t maxWait)
94069538
{
9407-
// Load keyID and value into outgoing payload
9408-
addCfgValset32(key, value);
9539+
if (packetCfg.len >= (packetCfgPayloadSize - 8))
9540+
{
9541+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9542+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9543+
_debugSerial->println(F("sendCfgValset32: packetCfgPayloadSize reached!"));
9544+
#endif
9545+
}
9546+
else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9547+
{
9548+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9549+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9550+
_debugSerial->println(F("sendCfgValset32: key limit reached!"));
9551+
#endif
9552+
}
9553+
else
9554+
// Load keyID and value into outgoing payload
9555+
addCfgValset32(key, value);
9556+
9557+
_numCfgKeyIDs = 0;
94099558

94109559
// Send VALSET command with this key and value
94119560
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
94159564
// This function takes a full 32-bit key and 16-bit value
94169565
uint8_t SFE_UBLOX_GNSS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t maxWait)
94179566
{
9418-
// Load keyID and value into outgoing payload
9419-
addCfgValset16(key, value);
9567+
if (packetCfg.len >= (packetCfgPayloadSize - 6))
9568+
{
9569+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9570+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9571+
_debugSerial->println(F("sendCfgValset16: packetCfgPayloadSize reached!"));
9572+
#endif
9573+
}
9574+
else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9575+
{
9576+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9577+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9578+
_debugSerial->println(F("sendCfgValset16: key limit reached!"));
9579+
#endif
9580+
}
9581+
else
9582+
// Load keyID and value into outgoing payload
9583+
addCfgValset16(key, value);
9584+
9585+
_numCfgKeyIDs = 0;
94209586

94219587
// Send VALSET command with this key and value
94229588
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
94269592
// This function takes a full 32-bit key and 8-bit value
94279593
uint8_t SFE_UBLOX_GNSS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxWait)
94289594
{
9429-
// Load keyID and value into outgoing payload
9430-
addCfgValset8(key, value);
9595+
if (packetCfg.len >= (packetCfgPayloadSize - 5))
9596+
{
9597+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9598+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9599+
_debugSerial->println(F("sendCfgValset8: packetCfgPayloadSize reached!"));
9600+
#endif
9601+
}
9602+
else if (_numCfgKeyIDs == CFG_VALSET_MAX_KEYS)
9603+
{
9604+
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
9605+
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
9606+
_debugSerial->println(F("sendCfgValset8: key limit reached!"));
9607+
#endif
9608+
}
9609+
else
9610+
// Load keyID and value into outgoing payload
9611+
addCfgValset8(key, value);
9612+
9613+
_numCfgKeyIDs = 0;
9614+
9615+
// Send VALSET command with this key and value
9616+
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
9617+
}
9618+
9619+
// Send the UBX-CFG-VALSET ubxPacket
9620+
uint8_t SFE_UBLOX_GNSS::sendCfgValset(uint16_t maxWait)
9621+
{
9622+
_numCfgKeyIDs = 0;
94319623

94329624
// Send VALSET command with this key and value
94339625
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
94349626
}
94359627

9628+
// Return the number of keys in the CfgValset
9629+
uint8_t SFE_UBLOX_GNSS::getCfgValsetLen()
9630+
{
9631+
return _numCfgKeyIDs;
9632+
}
9633+
9634+
// Return the number of free bytes remaining in packetCfgPayload
9635+
size_t SFE_UBLOX_GNSS::getCfgValsetSpaceRemaining()
9636+
{
9637+
return getPacketCfgSpaceRemaining();
9638+
}
9639+
94369640
//=-=-=-=-=-=-=-= "Automatic" Messages =-=-=-=-=-=-=-==-=-=-=-=-=-=-=
94379641
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
94389642

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