PlatformIO-Libs/SparkFunGNSS
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add UBX-RXM-COR to Example18 - to show encryption/decryption

Browse Source
This commit is contained in:
PaulZC
2022-03-17 18:28:32 +00:00
parent e35376f2e6
commit 05854ebbc4
1 changed files with 145 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino
+145 -4
View File
@@ -45,10 +45,135 @@
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;
//Global variables
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Global variables
long lastReceived_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printPVTdata will be called when new NAV PVT data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
// / _____ This _must_ be UBX_NAV_PVT_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
{
double latitude = ubxDataStruct->lat; // Print the latitude
Serial.print(F("Lat: "));
Serial.print(latitude / 10000000.0, 7);
double longitude = ubxDataStruct->lon; // Print the longitude
Serial.print(F(" Long: "));
Serial.print(longitude / 10000000.0, 7);
double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
Serial.print(F(" Height: "));
Serial.print(altitude / 1000.0, 3);
uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
Serial.print(F(" Fix: "));
Serial.print(fixType);
if (fixType == 0)
Serial.print(F(" (None)"));
else if (fixType == 1)
Serial.print(F(" (Dead Reckoning)"));
else if (fixType == 2)
Serial.print(F(" (2D)"));
else if (fixType == 3)
Serial.print(F(" (3D)"));
else if (fixType == 3)
Serial.print(F(" (GNSS + Dead Reckoning)"));
else if (fixType == 5)
Serial.print(F(" (Time Only)"));
else
Serial.print(F(" (UNKNOWN)"));
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
Serial.print(F(" Carrier Solution: "));
Serial.print(carrSoln);
if (carrSoln == 0)
Serial.print(F(" (None)"));
else if (carrSoln == 1)
Serial.print(F(" (Floating)"));
else if (carrSoln == 2)
Serial.print(F(" (Fixed)"));
else
Serial.print(F(" (UNKNOWN)"));
uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
Serial.print(F(" Horizontal Accuracy Estimate: "));
Serial.print(hAcc);
Serial.print(F(" (mm)"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printRXMCOR will be called when new RXM COR data arrives
// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
// / _____ This _must_ be UBX_RXM_COR_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
{
Serial.print(F("UBX-RXM-COR: ebno: "));
Serial.print(ubxDataStruct->ebno);
Serial.print(F(" protocol: "));
if (ubxDataStruct->statusInfo.bits.protocol == 1)
Serial.print(F("RTCM3"));
else if (ubxDataStruct->statusInfo.bits.protocol == 2)
Serial.print(F("SPARTN"));
else if (ubxDataStruct->statusInfo.bits.protocol == 29)
Serial.print(F("PMP (SPARTN)"));
else if (ubxDataStruct->statusInfo.bits.protocol == 30)
Serial.print(F("QZSSL6"));
else
Serial.print(F("Unknown"));
Serial.print(F(" errStatus: "));
if (ubxDataStruct->statusInfo.bits.errStatus == 1)
Serial.print(F("Error-free"));
else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
Serial.print(F("Erroneous"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgUsed: "));
if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
Serial.print(F("Not used"));
else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
Serial.print(F("Used"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgEncrypted: "));
if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
Serial.print(F("Not encrypted"));
else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
Serial.print(F("Encrypted"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgDecrypted: "));
if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
Serial.print(F("Not decrypted"));
else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
Serial.print(F("Successfully decrypted"));
else
Serial.print(F("Unknown"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
@@ -59,6 +184,8 @@ void setup()
Wire.begin(); //Start I2C
//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
@@ -73,6 +200,11 @@ void setup()
myGNSS.setNavigationFrequency(1); //Set output in Hz.
myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 0); // Use IP source (default). Change this to 1 for L-Band (PMP)
myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the SPARTN data is being decrypted successfully
Serial.print(F("Connecting to local WiFi"));
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
@@ -85,6 +217,9 @@ void setup()
Serial.println(WiFi.localIP());
while (Serial.available()) Serial.read();
Serial.println(F("Press any key to start MQTT/SPARTN Client."));
}
void loop()
@@ -92,12 +227,14 @@ void loop()
if (Serial.available())
{
beginClient();
while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
Serial.println(F("Press any key to start MQTT/SPARTN Client."));
}
Serial.println(F("Press any key to start MQTT/SPARTN Client."));
delay(1000);
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
}
WiFiClientSecure wifiClient = WiFiClientSecure();
@@ -163,6 +300,7 @@ void beginClient()
else {
mqttClient.poll();
}
//Close socket if we don't have new data for 10s
if (millis() - lastReceived_ms > maxTimeBeforeHangup_ms)
{
@@ -172,6 +310,9 @@ void beginClient()
return;
}
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
delay(10);
}