Add cfgRst and cfgCfg to simplify resets and saves

Author: PaulZC

src/u-blox_GNSS.cpp

@@ -6548,81 +6548,59 @@ void DevUBLOXGNSS::factoryReset()
 {
   // Copy default settings to permanent
   // Note: this does not load the permanent configuration into the current configuration. Calling factoryDefault() will do that.
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_CFG;
-  packetCfg.len = 13;
-  packetCfg.startingSpot = 0;
-  for (uint8_t i = 0; i < 4; i++)
-  {
-    payloadCfg[0 + i] = 0xff; // clear mask: copy default config to permanent config
-    payloadCfg[4 + i] = 0x00; // save mask: don't save current to permanent
-    payloadCfg[8 + i] = 0x00; // load mask: don't copy permanent config to current
-  }
-  payloadCfg[12] = 0xff;      // all forms of permanent memory
-  sendCommand(&packetCfg, 0); // don't expect ACK
+  uint8_t clearMemory[13] = {0xff,0xff,0xff,0xff,0,0,0,0,0,0,0,0,0xff};
+  cfgCfg(clearMemory, 13, 0);
   hardReset();                // cause factory default config to actually be loaded and used cleanly
 }
 
 void DevUBLOXGNSS::hardReset()
 {
   // Issue hard reset
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_RST;
-  packetCfg.len = 4;
-  packetCfg.startingSpot = 0;
-  payloadCfg[0] = 0xff;       // cold start
-  payloadCfg[1] = 0xff;       // cold start
-  payloadCfg[2] = 0;          // 0=HW reset
-  payloadCfg[3] = 0;          // reserved
-  sendCommand(&packetCfg, 0); // don't expect ACK
+  uint8_t softwareResetGNSS[4] = {0xff,0xff,0,0};
+  cfgRst(softwareResetGNSS, 4);
 }
 
 void DevUBLOXGNSS::softwareResetGNSSOnly()
 {
   // Issue controlled software reset (GNSS only)
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_RST;
-  packetCfg.len = 4;
-  packetCfg.startingSpot = 0;
-  payloadCfg[0] = 0;          // hot start
-  payloadCfg[1] = 0;          // hot start
-  payloadCfg[2] = 0x02;       // 0x02 = Controlled software reset (GNSS only)
-  payloadCfg[3] = 0;          // reserved
-  sendCommand(&packetCfg, 0); // don't expect ACK
+  uint8_t softwareResetGNSS[4] = {0,0,0x02,0};
+  cfgRst(softwareResetGNSS, 4);
 }
 
 void DevUBLOXGNSS::softwareEnableGNSS(bool enable)
 {
   // Issue controlled software reset (GNSS only)
+  uint8_t softwareEnable[4] = {0,0,0,0};
+  softwareEnable[2] = enable ? 0x09 : 0x08; // 0x09 = start GNSS, 0x08 = stop GNSS
+  cfgRst(softwareEnable, 4);
+}
+
+void DevUBLOXGNSS::cfgRst(uint8_t *data, uint8_t len)
+{
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_RST;
-  packetCfg.len = 4;
+  packetCfg.len = len;
   packetCfg.startingSpot = 0;
-  payloadCfg[0] = 0;                    // hot start
-  payloadCfg[1] = 0;                    // hot start
-  payloadCfg[2] = enable ? 0x09 : 0x08; // 0x09 = start GNSS, 0x08 = stop GNSS
-  payloadCfg[3] = 0;                    // reserved
+  for (uint8_t i = 0; i < len; i++)
+    payloadCfg[i] = *data++;
   sendCommand(&packetCfg, 0);           // don't expect ACK
 }
 
 // Reset module to factory defaults
 // This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
 bool DevUBLOXGNSS::factoryDefault(uint16_t maxWait)
 {
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_CFG;
-  packetCfg.len = 12;
-  packetCfg.startingSpot = 0;
+  uint8_t configSelective[12];
 
   // Clear packet payload
-  memset(payloadCfg, 0, packetCfg.len);
+  memset(configSelective, 0, 12);
 
-  packetCfg.payload[0] = 0xFF; // Set any bit in the clearMask field to clear saved config
-  packetCfg.payload[1] = 0xFF;
-  packetCfg.payload[8] = 0xFF; // Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
-  packetCfg.payload[9] = 0xFF;
+  configSelective[0] = 0xFF; // Set any bit in the clearMask field to clear saved config
+  configSelective[1] = 0xFF;
+  configSelective[8] = 0xFF; // Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers
+  configSelective[9] = 0xFF;
 
-  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  return (cfgCfg(configSelective, 12, maxWait));
 }
 
 // Save configuration to BBR / Flash
@@ -6631,37 +6609,42 @@ bool DevUBLOXGNSS::factoryDefault(uint16_t maxWait)
 // This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
 bool DevUBLOXGNSS::saveConfiguration(uint16_t maxWait)
 {
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_CFG;
-  packetCfg.len = 12;
-  packetCfg.startingSpot = 0;
+  uint8_t configSelective[12];
 
   // Clear packet payload
-  memset(payloadCfg, 0, packetCfg.len);
+  memset(configSelective, 0, 12);
 
-  packetCfg.payload[4] = 0xFF; // Set any bit in the saveMask field to save current config to Flash and BBR
-  packetCfg.payload[5] = 0xFF;
+  configSelective[4] = 0xFF; // Set any bit in the saveMask field to save current config to Flash and BBR
+  configSelective[5] = 0xFF;
 
-  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+  return (cfgCfg(configSelective, 12, maxWait));
 }
 
 // Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
 // This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods
 bool DevUBLOXGNSS::saveConfigSelective(uint32_t configMask, uint16_t maxWait)
 {
-  packetCfg.cls = UBX_CLASS_CFG;
-  packetCfg.id = UBX_CFG_CFG;
-  packetCfg.len = 12;
-  packetCfg.startingSpot = 0;
+  uint8_t configSelective[12];
 
   // Clear packet payload
-  memset(payloadCfg, 0, packetCfg.len);
+  memset(configSelective, 0, 12);
 
-  packetCfg.payload[4] = configMask & 0xFF; // Set the appropriate bits in the saveMask field to save current config to Flash and BBR
-  packetCfg.payload[5] = (configMask >> 8) & 0xFF;
-  packetCfg.payload[6] = (configMask >> 16) & 0xFF;
-  packetCfg.payload[7] = (configMask >> 24) & 0xFF;
+  configSelective[4] = configMask & 0xFF; // Set the appropriate bits in the saveMask field to save current config to Flash and BBR
+  configSelective[5] = (configMask >> 8) & 0xFF;
+  configSelective[6] = (configMask >> 16) & 0xFF;
+  configSelective[7] = (configMask >> 24) & 0xFF;
+
+  return (cfgCfg(configSelective, 12, maxWait));
+}
 
+bool DevUBLOXGNSS::cfgCfg(uint8_t *data, uint8_t len, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_CFG;
+  packetCfg.len = len;
+  packetCfg.startingSpot = 0;
+  for (uint8_t i = 0; i < len; i++)
+    payloadCfg[i] = *data++;
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 

src/u-blox_GNSS.h

@@ -298,15 +298,17 @@ class DevUBLOXGNSS
   // Reset to defaults
 
   void factoryReset();                                              // Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
+  bool factoryDefault(uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Reset module to factory defaults
   void hardReset();                                                 // Perform a reset leading to a cold start (zero info start-up)
   void softwareResetGNSSOnly();                                     // Controlled Software Reset (GNSS only) only restarts the GNSS tasks, without reinitializing the full system or reloading any stored configuration.
   void softwareEnableGNSS(bool enable);                             // Controlled Software Start / Stop (GNSS only)
-  bool factoryDefault(uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Reset module to factory defaults
+  void cfgRst(uint8_t *data, uint8_t len);                          // Common method for CFG RST
 
   // Save configuration to BBR / Flash
 
   bool saveConfiguration(uint16_t maxWait = kUBLOXGNSSDefaultMaxWait);                        // Save current configuration to flash and BBR (battery backed RAM)
   bool saveConfigSelective(uint32_t configMask, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Save the selected configuration sub-sections to flash and BBR (battery backed RAM)
+  bool cfgCfg(uint8_t *data, uint8_t len, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait);       // Common method for CFG CFG
 
   // Functions used for RTK and base station setup
   bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait);     // Control survey in mode