Add NEO-D9C + ZED-F9x Example22
This commit is contained in:
Paul
@@ -9,10 +9,18 @@
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It also enables UBX-RXM-QZSSL6 message output on both UART1 and UART2 at 38400 baud
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so you can feed the corrections directly to (e.g.) a ZED-F9P.
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It is not clear if the NEO-D9C's default I2C address is 0x43 or 0x42. It may depend
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on what firmware version is installed. If the NEO-D9C is not detected at 0x43, please
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try 0x42. (Please note: the ZED-F9P's default address is also 0x42)
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We believe the NEO-D9C's I2C address should be 0x43 (like the NEO-D9S). But, reported by users in Japan,
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the initial NEO-D9C's use address 0x42 - which is the same as the ZED-F9P.
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If you have one of the initial NEO-D9C's, the address 0x42 should work for you.
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If you have a newer or upgraded NEO-D9C, then you may need to change to 0x43. See line 100.
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Also, again reported by users in Japan, the initial NEO-D9C's do not support UBX-CFG-PRT.
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The library uses UBX-CFG-PRT inside .begin (.isConnected) to check if the module is connected.
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This then fails with the initial NEO-D9C's.
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The work-around is to set the .begin assumeSuccess parameter to true.
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With newer NEO-D9C's this work-around may not be necessary. Again see line 100.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/16481
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@@ -88,7 +96,10 @@ void setup()
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//myQZSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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while (myQZSS.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9C using Wire port. If 0x43 does not work, try 0x42
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// For the initial NEO-D9C's: connect using address 0x42; set the assumeSuccess parameter to true
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while (myQZSS.begin(Wire, 0x42, 1100, true) == false)
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// For newer NEO-D9C's: use address 0x43; leave assumeSuccess set to false (default)
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//while (myQZSS.begin(Wire, 0x43) == false)
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{
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Serial.println(F("u-blox NEO-D9C not detected at selected I2C address. Please check wiring and I2C address."));
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delay(2000);
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@@ -96,13 +107,21 @@ void setup()
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Serial.println(F("u-blox NEO-D9C connected"));
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uint8_t ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 1); // Output QZSS-L6 message on the I2C port
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Serial.print(F("QZSS-L6: I2C configuration "));
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Serial.println(OK(ok));
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1, 1); // Output QZSS-L6 message on UART1
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // Match UART1 baudrate with ZED
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Serial.print(F("QZSS-L6: UART1 configuration "));
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Serial.println(OK(ok));
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1); // Enable UBX output on UART2
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2, 1); // Output QZSS-L6 message on UART2
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // Match UART2 baudrate with ZED
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Serial.print(F("QZSS-L6: configuration "));
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Serial.print(F("QZSS-L6: UART2 configuration "));
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Serial.println(OK(ok));
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myQZSS.setRXMQZSSL6messageCallbackPtr(&printRXMQZSSL6); // Call printRXMQZSSL6 when new QZSS-L6 data arrives
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+312
@@ -0,0 +1,312 @@
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/*
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Use the NEO-D9C QZSS-L6 receiver to provide corrections to a ZED-F9x via UART
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By: SparkFun Electronics / Paul Clark
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Based on original code by: u-blox AG / Michael Ammann
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Date: September 23rd, 2022
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to configure a NEO-D9C QZSS-L6 receiver and have it send coorection data to a ZED-F9x via Serial (UART).
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We believe the NEO-D9C's I2C address should be 0x43 (like the NEO-D9S). But, reported by users in Japan,
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the initial NEO-D9C's use address 0x42 - which is the same as the ZED-F9P....
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As a work-around, this example expects the ZED-F9P to be connected via UART1 Serial (Teensy Serial1) to avoid a collision
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on the I2C bus.
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(Yes, OK, it is straight-forward to change the NEO-D9C's I2C address. But, with this example, you do not need to do that.)
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Also, again reported by users in Japan, the initial NEO-D9C's do not support UBX-CFG-PRT.
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The library uses UBX-CFG-PRT inside .begin (.isConnected) to check if the module is connected.
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This then fails with the initial NEO-D9C's.
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The work-around is to set the .begin assumeSuccess parameter to true.
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With newer NEO-D9C's this work-around may not be necessary. See line 272.
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Connections: e.g. for Teensy 4.0, Geosense D9CX1 NEO-D9C and SparkFun ZED-F9P:
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Teensy 5V (Vin) -> ZED-F9P 5V -> D9CX1 V5V (JP1 Pin 2)
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Teensy GND -> ZED-F9P GND -> D9CX1 GND (JP1 Pin 1)
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Teensy SDA1 (17) -> D9CX1 SDA (JP1 Pin 5)
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Teensy SCL1 (16) -> D9CX1 SCL (JP1 Pin 6)
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Teensy Serial1 TX1 (1) -> ZED-F9P UART1 RX1
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Teensy Serial1 RX1 (0) -> ZED-F9P UART1 TX1
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D9CX1 UART1 TX1 (JP1 Pin 3) -> ZED-F9P UART2 RX2
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D9CX1 UART1 RX1 (JP1 Pin 4) -> ZED-F9P UART2 TX2
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The Teensy communicates with the NEO-D9C (D9CX1) via I2C on address 0x42
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The Teensy communicates with the ZED-F9P via UART (Serial1 on Teensy, UART1 on ZED) to avoid the I2C address collision
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The NEO-D9C corrections (UBX-RXM-QZSSL6) are sent from NEO UART1 to ZED UART2
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/16481
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NEO-D9S L-Band Correction Data Receiver: https://www.sparkfun.com/products/19390
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Hardware Connections:
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Use Qwiic cables to connect the NEO-D9S and ZED-F9x GNSS to your board
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS; // ZED-F9x
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SFE_UBLOX_GNSS myQZSS; // NEO-D9C
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#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printRXMQZSSL6 will be called when new QZSS-L6 data arrives
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// See u-blox_structs.h for the full definition of UBX_RXM_QZSSL6_message_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setRXMQZSSL6messageCallbackPtr
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// / _____ This _must_ be UBX_RXM_QZSSL6_message_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printRXMQZSSL6(UBX_RXM_QZSSL6_message_data_t *qzssL6Data)
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{
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Serial.println(F("New QZSS-L6 data received:"));
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Serial.print(F("Message version: "));
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Serial.println(qzssL6Data->payload[0]);
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Serial.print(F("Satellite Identifier: "));
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Serial.println(qzssL6Data->payload[1]);
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Serial.print(F("Carrier / Noise: "));
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double cno = (0.00390625 * ((double)qzssL6Data->payload[2])) + ((double)qzssL6Data->payload[3]);
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Serial.println(cno, 1);
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Serial.print(F("Bit Errors Corrected: "));
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Serial.println(qzssL6Data->payload[9]);
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uint16_t chInfo = (((uint16_t)qzssL6Data->payload[11]) << 8) | qzssL6Data->payload[10];
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uint16_t errStatus = ((chInfo >> 12) & 0x3);
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Serial.print(F("Receiver Channel: "));
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Serial.println((chInfo >> 8) & 0x3);
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Serial.print(F("Message Name: L6"));
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Serial.println(((chInfo >> 10) & 0x1) == 0 ? F("D") : F("E"));
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Serial.print(F("Error Status: "));
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if (errStatus == 1)
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Serial.println("error-free");
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else if (errStatus == 2)
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Serial.println("erroneous");
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else
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Serial.println("unknown");
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Serial.print(F("Channel Name: "));
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Serial.println(((chInfo >> 14) & 0x3) == 0 ? F("A") : F("B"));
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Serial.println();
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printPVTdata will be called when new NAV PVT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
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// / _____ This _must_ be UBX_NAV_PVT_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
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{
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double latitude = ubxDataStruct->lat; // Print the latitude
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Serial.print(F("Lat: "));
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Serial.print(latitude / 10000000.0, 7);
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double longitude = ubxDataStruct->lon; // Print the longitude
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Serial.print(F(" Long: "));
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Serial.print(longitude / 10000000.0, 7);
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double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
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Serial.print(F(" Height: "));
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Serial.print(altitude / 1000.0, 3);
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uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
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Serial.print(F(" Fix: "));
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Serial.print(fixType);
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if (fixType == 0)
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Serial.print(F(" (None)"));
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else if (fixType == 1)
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Serial.print(F(" (Dead Reckoning)"));
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else if (fixType == 2)
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Serial.print(F(" (2D)"));
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else if (fixType == 3)
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Serial.print(F(" (3D)"));
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else if (fixType == 3)
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Serial.print(F(" (GNSS + Dead Reckoning)"));
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else if (fixType == 5)
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Serial.print(F(" (Time Only)"));
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else
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Serial.print(F(" (UNKNOWN)"));
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uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
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Serial.print(F(" Carrier Solution: "));
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Serial.print(carrSoln);
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if (carrSoln == 0)
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Serial.print(F(" (None)"));
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else if (carrSoln == 1)
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Serial.print(F(" (Floating)"));
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else if (carrSoln == 2)
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Serial.print(F(" (Fixed)"));
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else
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Serial.print(F(" (UNKNOWN)"));
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uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
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Serial.print(F(" Horizontal Accuracy Estimate: "));
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Serial.print(hAcc);
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Serial.print(F(" (mm)"));
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Serial.println();
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printRXMCOR will be called when new RXM COR data arrives
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// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
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// / _____ This _must_ be UBX_RXM_COR_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
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{
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Serial.print(F("UBX-RXM-COR: ebno: "));
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Serial.print(ubxDataStruct->ebno);
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Serial.print(F(" protocol: "));
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if (ubxDataStruct->statusInfo.bits.protocol == 1)
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Serial.print(F("RTCM3"));
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else if (ubxDataStruct->statusInfo.bits.protocol == 2)
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Serial.print(F("SPARTN"));
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else if (ubxDataStruct->statusInfo.bits.protocol == 29)
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Serial.print(F("PMP (SPARTN)"));
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else if (ubxDataStruct->statusInfo.bits.protocol == 30)
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Serial.print(F("QZSSL6"));
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else
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Serial.print(F("Unknown"));
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Serial.print(F(" errStatus: "));
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if (ubxDataStruct->statusInfo.bits.errStatus == 1)
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Serial.print(F("Error-free"));
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else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
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Serial.print(F("Erroneous"));
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else
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Serial.print(F("Unknown"));
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Serial.print(F(" msgUsed: "));
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if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
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Serial.print(F("Not used"));
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else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
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Serial.print(F("Used"));
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else
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Serial.print(F("Unknown"));
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Serial.print(F(" msgEncrypted: "));
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if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
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Serial.print(F("Not encrypted"));
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else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
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Serial.print(F("Encrypted"));
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else
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Serial.print(F("Unknown"));
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Serial.print(F(" msgDecrypted: "));
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if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
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Serial.print(F("Not decrypted"));
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else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
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Serial.print(F("Successfully decrypted"));
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else
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Serial.print(F("Unknown"));
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Serial.println();
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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Serial.begin(115200);
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Serial.println(F("NEO-D9C Corrections"));
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Begin and configure the ZED-F9x
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Serial1.begin(38400); // The ZED-F9P is connected via Serial1 to UART1
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//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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while (myGNSS.begin(Serial1) == false) //Connect to the u-blox module using Serial1 and UART1
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{
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Serial.println(F("u-blox GNSS module not detected. Please check wiring."));
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delay(2000);
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}
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Serial.println(F("u-blox GNSS module connected"));
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uint8_t ok = myGNSS.setUART1Output(COM_TYPE_UBX); //Turn off NMEA noise
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if (ok) ok = myGNSS.setPortInput(COM_PORT_UART2, COM_TYPE_UBX | COM_TYPE_RTCM3 | COM_TYPE_SPARTN); //Be sure SPARTN input is enabled on UART2
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if (ok) ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
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if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
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if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_UART1, 1); // Enable UBX-RXM-COR messages on UART2
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//if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
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Serial.print(F("GNSS: configuration "));
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Serial.println(OK(ok));
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myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
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myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the QZSS-L6 data is being decrypted successfully
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Begin and configure the NEO-D9C QZSS-L6 receiver
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Wire.begin(); //Start I2C
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//myQZSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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// For the initial NEO-D9C's: connect using address 0x42; set the assumeSuccess parameter to true
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while (myQZSS.begin(Wire, 0x42, 1100, true) == false)
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// For newer NEO-D9C's: use address 0x43; leave assumeSuccess set to false (default)
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//while (myQZSS.begin(Wire, 0x43) == false)
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{
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Serial.println(F("u-blox NEO-D9C not detected at selected I2C address. Please check wiring and I2C address."));
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delay(2000);
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}
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Serial.println(F("u-blox NEO-D9C connected"));
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ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 1); // Output QZSS-L6 message on the I2C port
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Serial.print(F("QZSS-L6: I2C configuration "));
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Serial.println(OK(ok));
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART1OUTPROT_UBX, 1); // Enable UBX output on UART1
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1, 1); // Output QZSS-L6 message on UART1
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // Match UART1 baudrate with ZED
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Serial.print(F("QZSS-L6: UART1 configuration "));
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Serial.println(OK(ok));
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1); // Enable UBX output on UART2
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2, 1); // Output QZSS-L6 message on UART2
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // Match UART2 baudrate with ZED
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Serial.print(F("QZSS-L6: UART2 configuration "));
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Serial.println(OK(ok));
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|
||||
myQZSS.setRXMQZSSL6messageCallbackPtr(&printRXMQZSSL6); // Call printRXMQZSSL6 when new QZSS-L6 data arrives
|
||||
}
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
|
||||
void loop()
|
||||
{
|
||||
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.
|
||||
|
||||
myQZSS.checkUblox(); // Check for the arrival of new QZSS-L6 data and process it.
|
||||
myQZSS.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed.
|
||||
}
|
||||
Reference in New Issue
Block a user