Add functional getVal of I2C address with hard-coded keyID. Add example 6 for ZED-F9P.

Author: nseidle

keywords.txt

@@ -61,7 +61,7 @@ setUART2Output	KEYWORD2
 setUSBOutput	KEYWORD2
 setSPIOutput	KEYWORD2
 
-getVal	KEYWORD2
+getVal8	KEYWORD2
 
 getSurveyMode	KEYWORD2
 setSurveyMode	KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -811,9 +811,32 @@ boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait)
   return (true);
 }
 
+//Given a group, ID and size, return the value of this config spot
+//The 32-bit key is put together from group/ID/size. See other getVal to send key directly.
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+{
+  //Create key
+  uint32_t key = 0;
+  key |= (uint32_t)id;
+  key |= (uint32_t)group << 16;
+  key |= (uint32_t)size << 28;
+
+  if (_printDebug == true)
+  {
+    _debugSerial->print("key: 0x");
+    _debugSerial->print(key, HEX);
+    _debugSerial->println();
+  }
+
+  return getVal8(key, layer, maxWait);
+}
+
 //Given a key, return its value
-//This is how the new Ublox modules are communicating, ie protocol v27 and above found on ZED-F9P
-uint8_t SFE_UBLOX_GPS::getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait)
+//This function takes a full 32-bit key
+//Default layer is BBR
+//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P
+uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait)
 {
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_VALGET;
@@ -825,13 +848,13 @@ uint8_t SFE_UBLOX_GPS::getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t
     packetCfg.payload[x] = 0;
 
   payloadCfg[0] = 0;     //Message Version - set to 0
-  payloadCfg[1] = layer; //By default we ask for the flash layer
+  payloadCfg[1] = layer; //By default we ask for the BBR layer
 
-  //Create key
-  uint32_t key = 0;
-  key |= (uint32_t)id;
-  key |= (uint32_t)group << 16;
-  key |= (uint32_t)size << 28;
+  //Load key into outgoing payload
+  payloadCfg[4] = key >> 8 * 0; //Key LSB
+  payloadCfg[5] = key >> 8 * 1;
+  payloadCfg[6] = key >> 8 * 2;
+  payloadCfg[7] = key >> 8 * 3;
 
   if (_printDebug == true)
   {
@@ -840,25 +863,17 @@ uint8_t SFE_UBLOX_GPS::getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t
     _debugSerial->println();
   }
 
-  //Load key into outgoing payload
-  payloadCfg[4] = key >> 8 * 0; //Key LSB
-  payloadCfg[5] = key >> 8 * 1;
-  payloadCfg[6] = key >> 8 * 2;
-  payloadCfg[7] = key >> 8 * 3;
-
   //Send VALGET command with this key
   if (sendCommand(packetCfg, maxWait) == false)
     return (false); //If command send fails then bail
 
-  if (_printDebug == true)
-  {
-    _debugSerial->print("response (should be 0x01): 0x");
-    _debugSerial->print(payloadCfg[0], HEX);
-    _debugSerial->println();
-  }
+  //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?)
+  //Response is 8 bytes plus cfg data
+  //if(packet->len > 8+1)
 
   //Pull the requested value from the response
-  return (extractByte(4)); //Look for our response value at location 4+1*N
+  //Response starts at 4+1*N with the 32-bit key so the actual data we're looking for is at 8+1*N
+  return (extractByte(8));
 }
 
 //Get the current TimeMode3 settings - these contain survey in statuses

src/SparkFun_Ublox_Arduino_Library.h

@@ -131,23 +131,28 @@ const uint8_t COM_TYPE_NMEA = (1 << 1);
 const uint8_t COM_TYPE_RTCM3 = (1 << 5);
 
 //The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL
-const uint8_t VAL_SIZE_BIT = 0x01;
-const uint8_t VAL_SIZE_BYTE = 0x02;
+const uint8_t VAL_SIZE_1 = 0x01;	//One bit
+const uint8_t VAL_SIZE_8 = 0x02;	//One byte
+const uint8_t VAL_SIZE_16 = 0x03; //Two bytes
+const uint8_t VAL_SIZE_32 = 0x04; //Four bytes
+const uint8_t VAL_SIZE_64 = 0x05; //Eight bytes
 
 const uint8_t VAL_LAYER_RAM = 0;
 const uint8_t VAL_LAYER_BBR = 1;
 const uint8_t VAL_LAYER_FLASH = 2;
 const uint8_t VAL_LAYER_DEFAULT = 7;
 
-const uint8_t VAL_GROUP_I2COUTPROT_SIZE = VAL_SIZE_BIT; //All fields in I2C group are currently 1 bit
+//Below are various Groups, IDs, and sizes for various settings
+//These can be used to call getVal/setVal/delVal
 const uint8_t VAL_GROUP_I2COUTPROT = 0x72;
+const uint8_t VAL_GROUP_I2COUTPROT_SIZE = VAL_SIZE_1; //All fields in I2C group are currently 1 bit
 
 const uint8_t VAL_ID_I2COUTPROT_UBX = 0x01;
 const uint8_t VAL_ID_I2COUTPROT_NMEA = 0x02;
 const uint8_t VAL_ID_I2COUTPROT_RTCM3 = 0x03;
 
-const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_BYTE; //All fields in I2C group are currently 1 byte
 const uint8_t VAL_GROUP_I2C = 0x51;
+const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are currently 1 byte
 
 const uint8_t VAL_ID_I2C_ADDRESS = 0x01;
 
@@ -242,7 +247,8 @@ class SFE_UBLOX_GPS
 	boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250);	 //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
 
 	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
-	uint8_t getVal(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_FLASH, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
+	uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
+	uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_BBR, uint16_t maxWait = 250);														 //Returns the value at a given group/id/size location
 
 	//Functions used for RTK and base station setup
 	boolean getSurveyMode(uint16_t maxWait = 250);																																 //Get the current TimeMode3 settings