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Merge pull request #146 from sparkfun/release_candidate

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v2.2.12
This commit is contained in:
Paul
2022-07-29 10:11:21 +01:00
committed by GitHub
parent 273c8ba222 e8b03e770f
commit 99ab25be46
11 changed files with 781 additions and 9 deletions
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README.md
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@@ -48,7 +48,7 @@ v2.1 of the library adds support for u-blox AssistNow<sup>TM</sup> Assisted GNSS
This library is the new and improved version of the very popular SparkFun u-blox GNSS Arduino Library. v2.0 contains some big changes and improvements:
* Seamless support for "automatic" message delivery:
* In v1.8, you could ask for the NAV PVT (Navigation Position Velocity Time) message to be delivered _automatically_, without polling. v2.0 adds automatic support for [**27 messages**](./Theory.md#auto-messages), covering the full range of: standard and High Precision position, velocity, attitude and time information; relative positioning; event capture with nanosecond time resolution; raw GNSS signal data including carrier phase; Sensor Fusion; and High Navigation Rate data.
* In v1.8, you could ask for the NAV PVT (Navigation Position Velocity Time) message to be delivered _automatically_, without polling. v2.0 adds automatic support for [**29 messages**](./Theory.md#auto-messages), covering the full range of: standard and High Precision position, velocity, attitude and time information; relative positioning; event capture with nanosecond time resolution; raw GNSS signal data including carrier phase; Sensor Fusion; and High Navigation Rate data.
* Don't see the message you really need? [Adding_New_Messages](./Adding_New_Messages.md) provides details on how to add "auto" support for your favourite message.
* Dynamic memory allocation with clearly-defined data storage structs for each message:
* There are no static 'global' variables to eat up your RAM. v2.0 automatically allocates memory for the automatic messages when they are enabled. You may find your total RAM use is lower with v2.0 than with v1.8.
Theory.md
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@@ -55,11 +55,13 @@ In v2.0, the full list of messages which can be processed and logged automatical
- UBX-NAV-HPPOSECEF (0x01 0x13): High precision position solution in ECEF
- UBX-NAV-HPPOSLLH (0x01 0x14): High precision geodetic position solution
- UBX-NAV-PVAT (0x01 0x17): Navigation position velocity attitude time solution (**only with ADR or UDR products**)
- UBX-NAV-TIMEUTC (0x01 0x21): UTC time solution
- UBX-NAV-CLOCK (0x01 0x22): Clock solution
- UBX-NAV-SAT (0x01 0x35): Satellite information
- UBX-NAV-SVIN (0x01 0x3B): Survey-in data (**only with High Precision GNSS products**)
- UBX-NAV-RELPOSNED (0x01 0x3C): Relative positioning information in NED frame (**only with High Precision GNSS products**)
- UBX-NAV-AOPSTATUS (0x01 0x60): AssistNow Autonomous status
- UBX-NAV-EOE (0x01 0x61): End of epoch
- UBX-RXM-SFRBX (0x02 0x13): Broadcast navigation data subframe
- UBX-RXM-RAWX (0x02 0x15): Multi-GNSS raw measurement data (**only with ADR or High Precision GNSS or Time Sync products**)
- UBX-TIM-TM2 (0x0D 0x03): Time mark data
@@ -76,7 +78,6 @@ Please see [Adding_New_Messages](./Adding_New_Messages.md) for details on how to
Notes:
- UBX-NAV-POSLLH is not supported as UBX-NAV-PVT contains the same information
- UBX-NAV-TIMEUTC is not supported as UBX-NAV-PVT contains the same information
## Migrating your code to v2.0
examples/Example20_SendCustomCommand/Example20_SendCustomCommand.ino
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@@ -167,6 +167,6 @@ void loop()
uint16_t milliseconds = myGNSS.getMillisecond();
Serial.print(F(" Milliseconds: "));
Serial.print(altitude);
Serial.print(milliseconds);
Serial.println();
}
keys/u-blox-D9-QZS-1.01_InterfaceDescription_UBX-21031777_keys_sorted.txt
+37
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@@ -0,0 +1,37 @@
0x10520005
0x10650001
0x10650002
0x10730001
0x10730003
0x10740001
0x10770001
0x10770003
0x10780001
0x20370020
0x20370030
0x20370050
0x20370060
0x20370080
0x20520002
0x20520003
0x20520004
0x2091033b
0x2091033d
0x20920002
0x20920004
0x3065000a
0x3065000b
0x3065000c
0x40520001
0x5065000d
0x5065000e
0x5065000f
0x50650010
0x50650011
0x50650012
0x50650013
0x50650014
0x50650015
0x50650016
0x50650017
0x50650018
keys/u-blox_config_keys_sorted.txt
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@@ -198,6 +198,11 @@
0x20240013
0x20240014
0x20250038
0x20370020
0x20370030
0x20370050
0x20370060
0x20370080
0x20410001
0x20410002
0x20410010
@@ -584,6 +589,11 @@
0x20910338
0x20910339
0x2091033a
0x2091033b
0x2091033c
0x2091033d
0x2091033e
0x2091033f
0x20910345
0x20910346
0x20910347
keywords.txt
+21
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@@ -45,12 +45,14 @@ UBX_NAV_SVIN_data_t KEYWORD1
UBX_NAV_RELPOSNED_data_t KEYWORD1
UBX_NAV_TIMELS_data_t KEYWORD1
UBX_NAV_AOPSTATUS_data_t KEYWORD1
UBX_NAV_EOE_data_t KEYWORD1
UBX_RXM_PMP_data_t KEYWORD1
UBX_RXM_PMP_message_data_t KEYWORD1
UBX_RXM_COR_data_t KEYWORD1
UBX_RXM_SFRBX_data_t KEYWORD1
UBX_RXM_RAWX_data_t KEYWORD1
UBX_RXM_QZSSL6_message_data_t KEYWORD1
UBX_TIM_TM2_data_t KEYWORD1
@@ -344,6 +346,14 @@ assumeAutoNAVPVAT KEYWORD2
flushNAVPVAT KEYWORD2
logNAVPVAT KEYWORD2
getNAVTIMEUTC KEYWORD2
setAutoNAVTIMEUTC KEYWORD2
setAutoNAVTIMEUTCrate KEYWORD2
setAutoNAVTIMEUTCcallbackPtr KEYWORD2
assumeAutoNAVTIMEUTC KEYWORD2
flushNAVTIMEUTC KEYWORD2
logNAVTIMEUTC KEYWORD2
getNAVCLOCK KEYWORD2
setAutoNAVCLOCK KEYWORD2
setAutoNAVCLOCKrate KEYWORD2
@@ -392,9 +402,19 @@ assumeAutoAOPSTATUS KEYWORD2
flushAOPSTATUS KEYWORD2
logAOPSTATUS KEYWORD2
getNAVEOE KEYWORD2
setAutoNAVEOE KEYWORD2
setAutoNAVEOErate KEYWORD2
setAutoNAVEOEcallbackPtr KEYWORD2
assumeAutoNAVEOE KEYWORD2
flushNAVEOE KEYWORD2
logNAVEOE KEYWORD2
setRXMPMPcallbackPtr KEYWORD2
setRXMPMPmessageCallbackPtr KEYWORD2
setRXMQZSSL6messageCallbackPtr KEYWORD2
setRXMCORcallbackPtr KEYWORD2
getRXMSFRBX KEYWORD2
@@ -770,6 +790,7 @@ UBX_RXM_COR LITERAL1
UBX_RXM_RAWX LITERAL1
UBX_RXM_SFRBX LITERAL1
UBX_RXM_SPARTN LITERAL1
UBX_RXM_QZSSL6 LITERAL1
UBX_TIM_TM2 LITERAL1
library.properties
+1 -1
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@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.2.11
version=2.2.12
author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+573 -3
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@@ -251,6 +251,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXNAVPVAT = NULL; // Redundant?
}
if (packetUBXNAVTIMEUTC != NULL)
{
if (packetUBXNAVTIMEUTC->callbackData != NULL)
{
delete packetUBXNAVTIMEUTC->callbackData;
}
delete packetUBXNAVTIMEUTC;
packetUBXNAVTIMEUTC = NULL; // Redundant?
}
if (packetUBXNAVCLOCK != NULL)
{
if (packetUBXNAVCLOCK->callbackData != NULL)
@@ -301,6 +311,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXNAVAOPSTATUS = NULL; // Redundant?
}
if (packetUBXNAVEOE != NULL)
{
if (packetUBXNAVEOE->callbackData != NULL)
{
delete packetUBXNAVEOE->callbackData;
}
delete packetUBXNAVEOE;
packetUBXNAVEOE = NULL; // Redundant?
}
if (packetUBXRXMPMP != NULL)
{
if (packetUBXRXMPMP->callbackData != NULL)
@@ -321,6 +341,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXRXMPMPmessage = NULL; // Redundant?
}
if (packetUBXRXMQZSSL6message != NULL)
{
if (packetUBXRXMQZSSL6message->callbackData != NULL)
{
delete [] packetUBXRXMQZSSL6message->callbackData;
}
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
@@ -1327,6 +1357,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVPVAT != NULL)
result = true;
break;
case UBX_NAV_TIMEUTC:
if (packetUBXNAVTIMEUTC != NULL)
result = true;
break;
case UBX_NAV_CLOCK:
if (packetUBXNAVCLOCK != NULL)
result = true;
@@ -1351,6 +1385,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if (packetUBXNAVAOPSTATUS != NULL)
result = true;
break;
case UBX_NAV_EOE:
if (packetUBXNAVEOE != NULL)
result = true;
break;
}
}
break;
@@ -1370,6 +1408,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if ((packetUBXRXMPMP != NULL) || (packetUBXRXMPMPmessage != NULL))
result = true;
break;
case UBX_RXM_QZSSL6:
if (packetUBXRXMQZSSL6message != NULL)
result = true;
break;
case UBX_RXM_COR:
if (packetUBXRXMCOR != NULL)
result = true;
@@ -1511,6 +1553,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_PVAT:
maxSize = UBX_NAV_PVAT_LEN;
break;
case UBX_NAV_TIMEUTC:
maxSize = UBX_NAV_TIMEUTC;
break;
case UBX_NAV_CLOCK:
maxSize = UBX_NAV_CLOCK_LEN;
break;
@@ -1529,6 +1574,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_NAV_AOPSTATUS:
maxSize = UBX_NAV_AOPSTATUS_LEN;
break;
case UBX_NAV_EOE:
maxSize = UBX_NAV_EOE_LEN;
break;
}
}
break;
@@ -1545,6 +1593,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
case UBX_RXM_PMP:
maxSize = UBX_RXM_PMP_MAX_LEN;
break;
case UBX_RXM_QZSSL6:
maxSize = UBX_RXM_QZSSL6_MAX_LEN;
break;
case UBX_RXM_COR:
maxSize = UBX_RXM_COR_LEN;
break;
@@ -3545,6 +3596,40 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
}
}
}
else if (msg->id == UBX_NAV_TIMEUTC && msg->len == UBX_NAV_TIMEUTC_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXNAVTIMEUTC != NULL)
{
packetUBXNAVTIMEUTC->data.iTOW = extractLong(msg, 0);
packetUBXNAVTIMEUTC->data.tAcc = extractLong(msg, 4);
packetUBXNAVTIMEUTC->data.nano = extractSignedLong(msg, 8);
packetUBXNAVTIMEUTC->data.year = extractInt(msg, 12);
packetUBXNAVTIMEUTC->data.month = extractByte(msg, 14);
packetUBXNAVTIMEUTC->data.day = extractByte(msg, 15);
packetUBXNAVTIMEUTC->data.hour = extractByte(msg, 16);
packetUBXNAVTIMEUTC->data.min = extractByte(msg, 17);
packetUBXNAVTIMEUTC->data.sec = extractByte(msg, 18);
packetUBXNAVTIMEUTC->data.valid.all = extractByte(msg, 19);
// Mark all datums as fresh (not read before)
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
// Check if we need to copy the data for the callback
if ((packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
{
memcpy(&packetUBXNAVTIMEUTC->callbackData->iTOW, &packetUBXNAVTIMEUTC->data.iTOW, sizeof(UBX_NAV_TIMEUTC_data_t));
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid = true;
}
// Check if we need to copy the data into the file buffer
if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.addToFileBuffer)
{
storePacket(msg);
}
}
}
else if (msg->id == UBX_NAV_CLOCK && msg->len == UBX_NAV_CLOCK_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -3765,6 +3850,31 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
}
}
}
else if (msg->id == UBX_NAV_EOE && msg->len == UBX_NAV_EOE_LEN)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXNAVEOE != NULL)
{
packetUBXNAVEOE->data.iTOW = extractLong(msg, 0);
// Mark all datums as fresh (not read before)
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
// Check if we need to copy the data for the callback
if ((packetUBXNAVEOE->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
{
memcpy(&packetUBXNAVEOE->callbackData->iTOW, &packetUBXNAVEOE->data.iTOW, sizeof(UBX_NAV_EOE_data_t));
packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid = true;
}
// Check if we need to copy the data into the file buffer
if (packetUBXNAVEOE->automaticFlags.flags.bits.addToFileBuffer)
{
storePacket(msg);
}
}
}
break;
case UBX_CLASS_RXM:
if (msg->id == UBX_RXM_PMP)
@@ -3830,6 +3940,31 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
else if (msg->id == UBX_RXM_QZSSL6)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Full QZSSL6 message, including Class, ID and checksum
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch))) {
packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
packetUBXRXMQZSSL6message->callbackData[ch].ID = UBX_RXM_QZSSL6;
packetUBXRXMQZSSL6message->callbackData[ch].lengthLSB = msg->len & 0xFF;
packetUBXRXMQZSSL6message->callbackData[ch].lengthMSB = msg->len >> 8;
memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
break; // abort when added
}
}
}
else if (msg->id == UBX_RXM_COR)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -5334,6 +5469,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVPVAT->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVTIMEUTC != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVTIMEUTC->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
if (packetUBXNAVTIMEUTC->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV TIMEUTC"));
packetUBXNAVTIMEUTC->callbackPointerPtr(packetUBXNAVTIMEUTC->callbackData); // Call the callback
}
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVCLOCK != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVCLOCK->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVCLOCK->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -5423,6 +5571,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXNAVAOPSTATUS->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXNAVEOE != NULL) // If RAM has been allocated for message storage
&& (packetUBXNAVEOE->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
if (packetUBXNAVEOE->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for NAV EOE"));
packetUBXNAVEOE->callbackPointerPtr(packetUBXNAVEOE->callbackData); // Call the callback
}
packetUBXNAVEOE->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMPMP != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMPMP->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXRXMPMP->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
@@ -5444,6 +5605,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->callbackPointerPtr(packetUBXRXMPMPmessage->callbackData); // Call the callback
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMQZSSL6message != NULL) && // If RAM has been allocated for message storage
(packetUBXRXMQZSSL6message->callbackData != NULL) && // If RAM has been allocated for the copy of the data
(packetUBXRXMQZSSL6message->callbackPointerPtr != NULL)) // If the pointer to the callback has been defined
{
for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
if (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch)) // If the copy of the data is valid
{
packetUBXRXMQZSSL6message->callbackPointerPtr( &packetUBXRXMQZSSL6message->callbackData[ch] ); // Call the callback
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid &= ~(1 << ch); // clear it
}
}
}
if ((packetUBXRXMCOR != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMCOR->callbackData != NULL) // If RAM has been allocated for the copy of the data
@@ -9842,6 +10016,7 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVDOP()
}
packetUBXNAVDOP->automaticFlags.flags.all = 0;
packetUBXNAVDOP->callbackPointer = NULL;
packetUBXNAVDOP->callbackPointerPtr = NULL;
packetUBXNAVDOP->callbackData = NULL;
packetUBXNAVDOP->moduleQueried.moduleQueried.all = 0;
return (true);
@@ -9863,6 +10038,191 @@ void SFE_UBLOX_GNSS::logNAVDOP(bool enabled)
packetUBXNAVDOP->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** EOE automatic support
bool SFE_UBLOX_GNSS::getNAVEOE(uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the EOE data
if (packetUBXNAVEOE == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXNAVEOE->automaticFlags.flags.bits.automatic && packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Autoreporting"));
// }
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_EOE);
return packetUBXNAVEOE->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXNAVEOE->automaticFlags.flags.bits.automatic && !packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Exit immediately"));
// }
return (false);
}
else
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: Polling"));
// }
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_EOE;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEOE: data in packetCfg was OVERWRITTEN by another message (but that's OK)"));
// }
return (true);
}
// if (_printDebug == true)
// {
// _debugSerial->print(F("getEOE retVal: "));
// _debugSerial->println(statusString(retVal));
// }
return (false);
}
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoNAVEOE(bool enable, uint16_t maxWait)
{
return setAutoNAVEOErate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoNAVEOE(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoNAVEOErate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getEOE
// works.
bool SFE_UBLOX_GNSS::setAutoNAVEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
if (packetUBXNAVEOE == NULL) // Only attempt this if RAM allocation was successful
return false;
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_EOE;
payloadCfg[2] = rate; // rate relative to navigation freq.
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVEOE->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVEOE->moduleQueried.moduleQueried.bits.all = false;
return ok;
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoNAVEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoNAVEOE(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVEOE->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVEOE->callbackData = new UBX_NAV_EOE_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVEOE->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVEOEcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVEOE->callbackPointerPtr = callbackPointerPtr;
return (true);
}
// In case no config access to the GNSS is possible and EOE is send cyclically already
// set config to suitable parameters
bool SFE_UBLOX_GNSS::assumeAutoNAVEOE(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVEOE == NULL)
initPacketUBXNAVEOE(); // Check that RAM has been allocated for the data
if (packetUBXNAVEOE == NULL) // Only attempt this if RAM allocation was successful
return false;
bool changes = packetUBXNAVEOE->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
if (changes)
{
packetUBXNAVEOE->automaticFlags.flags.bits.automatic = enabled;
packetUBXNAVEOE->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
return changes;
}
// PRIVATE: Allocate RAM for packetUBXNAVEOE and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXNAVEOE()
{
packetUBXNAVEOE = new UBX_NAV_EOE_t; // Allocate RAM for the main struct
if (packetUBXNAVEOE == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVEOE: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVEOE->automaticFlags.flags.all = 0;
packetUBXNAVEOE->callbackPointerPtr = NULL;
packetUBXNAVEOE->callbackData = NULL;
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the EOE data as read/stale. This is handy to get data alignment after CRC failure
void SFE_UBLOX_GNSS::flushNAVEOE()
{
if (packetUBXNAVEOE == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVEOE->moduleQueried.moduleQueried.all = 0; // Mark all EOEs as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logNAVEOE(bool enabled)
{
if (packetUBXNAVEOE == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVEOE->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** VEH ATT automatic support
bool SFE_UBLOX_GNSS::getVehAtt(uint16_t maxWait)
@@ -11457,6 +11817,169 @@ void SFE_UBLOX_GNSS::logNAVPVAT(bool enabled)
packetUBXNAVPVAT->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** NAV TIMEUTC automatic support
bool SFE_UBLOX_GNSS::getNAVTIMEUTC(uint16_t maxWait)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the TIMEUTC data
if (packetUBXNAVTIMEUTC == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic && packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_TIMEUTC);
return packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic && !packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
return (false);
}
else
{
// The GPS is not automatically reporting navigation position so we have to poll explicitly
packetCfg.cls = UBX_CLASS_NAV;
packetCfg.id = UBX_NAV_TIMEUTC;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
return (true);
}
return (false);
}
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTC(bool enable, uint16_t maxWait)
{
return setAutoNAVTIMEUTCrate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTC(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoNAVTIMEUTCrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic navigation message generation by the GNSS. This changes the way getTIMEUTC
// works.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTCrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the data
if (packetUBXNAVTIMEUTC == NULL) // Only attempt this if RAM allocation was successful
return false;
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_MSG;
packetCfg.len = 3;
packetCfg.startingSpot = 0;
payloadCfg[0] = UBX_CLASS_NAV;
payloadCfg[1] = UBX_NAV_TIMEUTC;
payloadCfg[2] = rate; // rate relative to navigation freq.
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
if (ok)
{
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.bits.all = false;
return ok;
}
// Enable automatic navigation message generation by the GNSS.
bool SFE_UBLOX_GNSS::setAutoNAVTIMEUTCcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *), uint16_t maxWait)
{
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
bool result = setAutoNAVTIMEUTC(true, false, maxWait);
if (!result)
return (result); // Bail if setAuto failed
if (packetUBXNAVTIMEUTC->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXNAVTIMEUTC->callbackData = new UBX_NAV_TIMEUTC_data_t; // Allocate RAM for the main struct
}
if (packetUBXNAVTIMEUTC->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoNAVTIMEUTCcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVTIMEUTC->callbackPointerPtr = callbackPointerPtr;
return (true);
}
// In case no config access to the GNSS is possible and TIMEUTC is send cyclically already
// set config to suitable parameters
bool SFE_UBLOX_GNSS::assumeAutoNAVTIMEUTC(bool enabled, bool implicitUpdate)
{
if (packetUBXNAVTIMEUTC == NULL)
initPacketUBXNAVTIMEUTC(); // Check that RAM has been allocated for the data
if (packetUBXNAVTIMEUTC == NULL) // Only attempt this if RAM allocation was successful
return false;
bool changes = packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
if (changes)
{
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.automatic = enabled;
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
return changes;
}
// PRIVATE: Allocate RAM for packetUBXNAVTIMEUTC and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXNAVTIMEUTC()
{
packetUBXNAVTIMEUTC = new UBX_NAV_TIMEUTC_t; // Allocate RAM for the main struct
if (packetUBXNAVTIMEUTC == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXNAVTIMEUTC: RAM alloc failed!"));
#endif
return (false);
}
packetUBXNAVTIMEUTC->automaticFlags.flags.all = 0;
packetUBXNAVTIMEUTC->callbackPointerPtr = NULL;
packetUBXNAVTIMEUTC->callbackData = NULL;
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the data as read/stale
void SFE_UBLOX_GNSS::flushNAVTIMEUTC()
{
if (packetUBXNAVTIMEUTC == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVTIMEUTC->moduleQueried.moduleQueried.all = 0; // Mark all datums as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logNAVTIMEUTC(bool enabled)
{
if (packetUBXNAVTIMEUTC == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXNAVTIMEUTC->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
}
// ***** NAV CLOCK automatic support
bool SFE_UBLOX_GNSS::getNAVCLOCK(uint16_t maxWait)
@@ -12561,6 +13084,53 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMPMPmessage()
return (true);
}
// ***** RXM QZSSL6 automatic support
// Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool SFE_UBLOX_GNSS::setRXMQZSSL6messageCallbackPtr(void (*callbackPointer)(UBX_RXM_QZSSL6_message_data_t *))
{
if (packetUBXRXMQZSSL6message == NULL)
initPacketUBXRXMQZSSL6message(); // Check that RAM has been allocated for the data
if (packetUBXRXMQZSSL6message == NULL) // Only attempt this if RAM allocation was successful
return false;
if (packetUBXRXMQZSSL6message->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXRXMQZSSL6message->callbackData = new UBX_RXM_QZSSL6_message_data_t[UBX_RXM_QZSSL6_NUM_CHANNELS]; // Allocate RAM for the main struct
}
if (packetUBXRXMQZSSL6message->callbackData == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("setAutoRXMQZSSL6messagecallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6message->callbackPointerPtr = callbackPointer;
return (true);
}
// PRIVATE: Allocate RAM for packetUBXRXMQZSSL6message and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6message()
{
packetUBXRXMQZSSL6message = new UBX_RXM_QZSSL6_message_t; // Allocate RAM for the main struct
if (packetUBXRXMQZSSL6message == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMQZSSL6message: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6message->automaticFlags.flags.all = 0;
packetUBXRXMQZSSL6message->callbackPointerPtr = NULL;
packetUBXRXMQZSSL6message->callbackData = NULL;
return (true);
}
bool SFE_UBLOX_GNSS::setRXMCORcallbackPtr(void (*callbackPointer)(UBX_RXM_COR_data_t *))
{
if (packetUBXRXMCOR == NULL)
@@ -17457,7 +18027,7 @@ bool SFE_UBLOX_GNSS::getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *senso
if (packetUBXESFMEAS == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
if ((packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & (1 << sensor)) == 0)
getESFMEAS(maxWait);
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); // Since we are about to give this to user, mark this data as stale
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all = false;
@@ -17478,7 +18048,7 @@ bool SFE_UBLOX_GNSS::getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensorDat
if (packetUBXESFRAW == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & ((1 << sensor) == 0))
if ((packetUBXESFRAW->moduleQueried.moduleQueried.bits.data & (1 << sensor)) == 0)
getESFRAW(maxWait);
packetUBXESFRAW->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); // Since we are about to give this to user, mark this data as stale
packetUBXESFRAW->moduleQueried.moduleQueried.bits.all = false;
@@ -17501,7 +18071,7 @@ bool SFE_UBLOX_GNSS::getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sensor
if (packetUBXESFSTATUS == NULL) // Bail if the RAM allocation failed
return (false);
if (packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & ((1 << sensor) == 0))
if ((packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status & (1 << sensor)) == 0)
getESFSTATUS(maxWait);
packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.status &= ~(1 << sensor); // Since we are about to give this to user, mark this data as stale
packetUBXESFSTATUS->moduleQueried.moduleQueried.bits.all = false;
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+32 -1
View File
@@ -397,6 +397,7 @@ const uint8_t UBX_NAV_AOPSTATUS = 0x60; // AssistNow Autonomous status
const uint8_t UBX_RXM_COR = 0x34; // Differential correction input status
const uint8_t UBX_RXM_MEASX = 0x14; // Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMP = 0x72; // PMP raw data (NEO-D9S) (two different versions) (packet size for version 0x01 is variable)
const uint8_t UBX_RXM_QZSSL6 = 0x73; // QZSSL6 data (NEO-D9C)
const uint8_t UBX_RXM_PMREQ = 0x41; // Requests a Power Management task (two different packet sizes)
const uint8_t UBX_RXM_RAWX = 0x15; // Multi-GNSS Raw Measurement Data
const uint8_t UBX_RXM_RLM = 0x59; // Galileo SAR Short-RLM report (two different packet sizes)
@@ -861,7 +862,7 @@ public:
// Functions used for RTK and base station setup
bool getSurveyMode(uint16_t maxWait = defaultMaxWait); // Get the current TimeMode3 settings
bool getSurveyMode(UBX_CFG_TMODE3_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the current TimeMode3 settings
bool getSurveyMode(UBX_CFG_TMODE3_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the current TimeMode3 settings
bool setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Control survey in mode
bool setSurveyModeFull(uint8_t mode, uint32_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Control survey in mode
bool enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = defaultMaxWait); // Begin Survey-In for NEO-M8P / ZED-F9x
@@ -1102,6 +1103,15 @@ public:
void flushNAVPVAT(); // Mark all the PVAT data as read/stale
void logNAVPVAT(bool enabled = true); // Log data to file buffer
bool getNAVTIMEUTC(uint16_t maxWait = defaultMaxWait); // NAV TIMEUTC
bool setAutoNAVTIMEUTC(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency
bool setAutoNAVTIMEUTC(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic TIMEUTC reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoNAVTIMEUTCrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic TIMEUTC reports
bool setAutoNAVTIMEUTCcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic TIMEUTC reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVTIMEUTC(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and TIMEUTC is send cyclically already
void flushNAVTIMEUTC(); // Mark all the data as read/stale
void logNAVTIMEUTC(bool enabled = true); // Log data to file buffer
bool getNAVCLOCK(uint16_t maxWait = defaultMaxWait); // NAV CLOCK
bool setAutoNAVCLOCK(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic clock reports at the navigation frequency
bool setAutoNAVCLOCK(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic clock reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
@@ -1121,6 +1131,15 @@ public:
void flushNAVSVIN(); // Mark all the data as read/stale
void logNAVSVIN(bool enabled = true); // Log data to file buffer
bool getNAVEOE(uint16_t maxWait = defaultMaxWait); // Query module for latest dilution of precision values and load global vars:. If autoEOE is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new EOE is available.
bool setAutoNAVEOE(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency
bool setAutoNAVEOE(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic EOE reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoNAVEOErate(uint8_t rate, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic EOE reports
bool setAutoNAVEOEcallbackPtr(void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic EOE reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoNAVEOE(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and EOE is send cyclically already
void flushNAVEOE(); // Mark all the EOE data as read/stale
void logNAVEOE(bool enabled = true); // Log data to file buffer
// Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
bool getLeapSecondEvent(uint16_t maxWait = defaultMaxWait); // Reads leap second event info
@@ -1163,6 +1182,12 @@ public:
bool setRXMPMPcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_PMP_data_t *)); // Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
bool setRXMPMPmessageCallbackPtr(void (*callbackPointerPtr)(UBX_RXM_PMP_message_data_t *)); // Use this if you want all of the PMP message (including sync chars, checksum, etc.) to push to a GNSS
// Configure a callback for the UBX-RXM-QZSSL6 messages produced by the NEO-D9C
// Note: on the NEO-D9C, the UBX-RXM-QZSSL6 messages are enabled by default on all ports.
// You can disable them by calling (e.g.) setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 0)
// The NEO-D9C does not support UBX-CFG-MSG
bool setRXMQZSSL6messageCallbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *)); // Use this if you want all of the QZSSL6 message (including sync chars, checksum, etc.) to push to a GNSS
bool setRXMCORcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_COR_data_t *)); // RXM COR
bool getRXMSFRBX(uint16_t maxWait = defaultMaxWait); // RXM SFRBX
@@ -1501,9 +1526,11 @@ public:
UBX_NAV_POSECEF_t *packetUBXNAVPOSECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_STATUS_t *packetUBXNAVSTATUS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_DOP_t *packetUBXNAVDOP = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_EOE_t *packetUBXNAVEOE = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_ATT_t *packetUBXNAVATT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_PVT_t *packetUBXNAVPVT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_ODO_t *packetUBXNAVODO = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_TIMEUTC_t *packetUBXNAVTIMEUTC = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_VELECEF_t *packetUBXNAVVELECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_VELNED_t *packetUBXNAVVELNED = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_NAV_HPPOSECEF_t *packetUBXNAVHPPOSECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
@@ -1518,6 +1545,7 @@ public:
UBX_RXM_PMP_t *packetUBXRXMPMP = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_PMP_message_t *packetUBXRXMPMPmessage = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_QZSSL6_message_t *packetUBXRXMQZSSL6message = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_COR_t *packetUBXRXMCOR = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_SFRBX_t *packetUBXRXMSFRBX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
UBX_RXM_RAWX_t *packetUBXRXMRAWX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
@@ -1609,14 +1637,17 @@ private:
bool initPacketUBXNAVHPPOSECEF(); // Allocate RAM for packetUBXNAVHPPOSECEF and initialize it
bool initPacketUBXNAVHPPOSLLH(); // Allocate RAM for packetUBXNAVHPPOSLLH and initialize it
bool initPacketUBXNAVPVAT(); // Allocate RAM for packetUBXNAVPVAT and initialize it
bool initPacketUBXNAVTIMEUTC(); // Allocate RAM for packetUBXNAVTIMEUTC and initialize it
bool initPacketUBXNAVCLOCK(); // Allocate RAM for packetUBXNAVCLOCK and initialize it
bool initPacketUBXNAVTIMELS(); // Allocate RAM for packetUBXNAVTIMELS and initialize it
bool initPacketUBXNAVSVIN(); // Allocate RAM for packetUBXNAVSVIN and initialize it
bool initPacketUBXNAVSAT(); // Allocate RAM for packetUBXNAVSAT and initialize it
bool initPacketUBXNAVRELPOSNED(); // Allocate RAM for packetUBXNAVRELPOSNED and initialize it
bool initPacketUBXNAVAOPSTATUS(); // Allocate RAM for packetUBXNAVAOPSTATUS and initialize it
bool initPacketUBXNAVEOE(); // Allocate RAM for packetUBXNAVEOE and initialize it
bool initPacketUBXRXMPMP(); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMPMPmessage(); // Allocate RAM for packetUBXRXMPMPRaw and initialize it
bool initPacketUBXRXMQZSSL6message(); // Allocate RAM for packetUBXRXMQZSSL6raw and initialize it
bool initPacketUBXRXMCOR(); // Allocate RAM for packetUBXRXMCOR and initialize it
bool initPacketUBXRXMSFRBX(); // Allocate RAM for packetUBXRXMSFRBX and initialize it
bool initPacketUBXRXMRAWX(); // Allocate RAM for packetUBXRXMRAWX and initialize it
src/u-blox_config_keys.h
+16
View File
@@ -826,6 +826,14 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_UART1 = 0x20910323; // Output rate o
const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_UART2 = 0x20910324; // Output rate of the UBX_MON_PMP message on port UART2
const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_USB = 0x20910325; // Output rate of the UBX_MON_PMP message on port USB
// Additional CFG_MSGOUT keys for the NEO-D9S
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C = 0x2091033f; // Output rate of the UBX_RXM_QZSSL6 message on port I2C
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_SPI = 0x2091033e; // Output rate of the UBX_RXM_QZSSL6 message on port SPI
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1 = 0x2091033b; // Output rate of the UBX_RXM_QZSSL6 message on port UART1
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2 = 0x2091033c; // Output rate of the UBX_RXM_QZSSL6 message on port UART2
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_USB = 0x2091033d; // Output rate of the UBX_RXM_QZSSL6 message on port USB
// CFG-NAV2: Secondary output configuration
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = 0x10170001; // Enable secondary (NAV2) output
@@ -928,6 +936,14 @@ const uint32_t UBLOX_CFG_PMP_DESCRAMBLER_INIT = 0x30b10015; // Descrambler init
const uint32_t UBLOX_CFG_PMP_USE_PRESCRAMBLING = 0x10b10019; // Use prescrambling. Enables/disables the prescrambling.
const uint32_t UBLOX_CFG_PMP_UNIQUE_WORD = 0x50b1001a; // Unique word. Defines value of unique word.
// CFG-QZSS-L6: QZSS system configuration configuration (NEO-D9C)
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_QZSSL6_SVIDA = 0x20370020; // QZSS L6 SV Id to be decoded by channel A
const uint32_t UBLOX_CFG_QZSSL6_SVIDB = 0x20370030; // QZSS L6 SV Id to be decoded by channel B
const uint32_t UBLOX_CFG_QZSSL6_MSGA = 0x20370050; // QZSS L6 messages to be decoded by channel A
const uint32_t UBLOX_CFG_QZSSL6_MSGB = 0x20370060; // QZSS L6 messages to be decoded by channel B
const uint32_t UBLOX_CFG_QZSSL6_RSDECODER = 0x20370080; // QZSS L6 message Reed-Solomon decoder mode
// CFG-QZSS: QZSS system configuration
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
const uint32_t UBLOX_CFG_QZSS_USE_SLAS_DGNSS = 0x10370005; // Apply QZSS SLAS DGNSS corrections
src/u-blox_structs.h
+87 -1
View File
@@ -999,7 +999,6 @@ typedef struct
ubxAutomaticFlags automaticFlags;
UBX_NAV_TIMEUTC_data_t data;
UBX_NAV_TIMEUTC_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_NAV_TIMEUTC_data_t);
void (*callbackPointerPtr)(UBX_NAV_TIMEUTC_data_t *);
UBX_NAV_TIMEUTC_data_t *callbackData;
} UBX_NAV_TIMEUTC_t;
@@ -1383,6 +1382,37 @@ typedef struct
UBX_NAV_AOPSTATUS_data_t *callbackData;
} UBX_NAV_AOPSTATUS_t;
// UBX-NAV-EOE (0x01 0x61): End of Epoch
const uint16_t UBX_NAV_EOE_LEN = 4;
typedef struct
{
uint32_t iTOW; // GPS time of week of the navigation epoch: ms
} UBX_NAV_EOE_data_t;
typedef struct
{
union
{
uint32_t all;
struct
{
uint32_t all : 1;
uint32_t iTOW : 1;
} bits;
} moduleQueried;
} UBX_NAV_EOE_moduleQueried_t;
typedef struct
{
ubxAutomaticFlags automaticFlags;
UBX_NAV_EOE_data_t data;
UBX_NAV_EOE_moduleQueried_t moduleQueried;
void (*callbackPointerPtr)(UBX_NAV_EOE_data_t *);
UBX_NAV_EOE_data_t *callbackData;
} UBX_NAV_EOE_t;
// RXM-specific structs
// UBX-RXM-SFRBX (0x02 0x13): Broadcast navigation data subframe
@@ -1599,6 +1629,62 @@ typedef struct
UBX_RXM_PMP_message_data_t *callbackData;
} UBX_RXM_PMP_message_t;
// UBX-RXM-QZSSL6 (0x02 0x73): QZSS L6 raw data (D9C modules)
#define UBX_RXM_QZSSL6_NUM_CHANNELS 2
const uint16_t UBX_RXM_QZSSL6_DATALEN = 250;
const uint16_t UBX_RXM_QZSSL6_MAX_LEN = UBX_RXM_QZSSL6_DATALEN + 14;
typedef struct
{
uint8_t version; // Message version (0x00 / 0x01)
uint8_t svId; // Satellite identifier
uint16_t cno; // Mean C/N0
uint32_t timeTag; // Time since startup when frame started : ms
uint8_t groupDelay; // L6 group delay w.r.t. L2 on channel
uint8_t bitErrCorr; // Number of bit errors corrected by Reed-Solomon decoder
uint16_t chInfo; // Information about receiver channel associated with a received QZSS L6 message
uint8_t reserved0[2]; // Reserved
uint8_t msgBytes[UBX_RXM_QZSSL6_DATALEN]; // Bytes in a QZSS L6 message
} UBX_RXM_QZSSL6_data_t;
struct ubxQZSSL6AutomaticFlags
{
union
{
uint8_t all;
struct
{
uint8_t automatic : 1; // Will this message be delivered and parsed "automatically" (without polling)
uint8_t implicitUpdate : 1; // Is the update triggered by accessing stale data (=true) or by a call to checkUblox (=false)
uint8_t addToFileBuffer : 1; // Should the raw UBX data be added to the file buffer?
uint8_t callbackCopyValid : UBX_RXM_QZSSL6_NUM_CHANNELS; // Is the copies of the data structs used by the callback valid/fresh?
} bits;
} flags;
};
// Define a struct to hold the entire QZSSL6 message so the whole thing can be pushed to a GNSS.
// Remember that the length of the payload could be variable (with version 1 messages).
typedef struct
{
uint8_t sync1; // 0xB5
uint8_t sync2; // 0x62
uint8_t cls;
uint8_t ID;
uint8_t lengthLSB;
uint8_t lengthMSB;
uint8_t payload[UBX_RXM_QZSSL6_MAX_LEN];
uint8_t checksumA;
uint8_t checksumB;
} UBX_RXM_QZSSL6_message_data_t;
// The QZSSL6 data can only be accessed via a callback. QZSSL6 cannot be polled.
typedef struct
{
ubxQZSSL6AutomaticFlags automaticFlags;
void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *);
UBX_RXM_QZSSL6_message_data_t *callbackData;
} UBX_RXM_QZSSL6_message_t;
// CFG-specific structs
// UBX-CFG-PRT (0x06 0x00): Port configuration