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This commit is contained in:
Michael Ammann
2022-07-19 19:02:49 +02:00
committed by GitHub
parent 380e3e66b6
commit 9d007c6417
4 changed files with 250 additions and 5 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+174 -5
View File
@@ -311,14 +311,14 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXRXMPMP = NULL; // Redundant?
}
if (packetUBXRXMPMPmessage != NULL)
if (packetUBXRXMQZSSL6message != NULL)
{
if (packetUBXRXMPMPmessage->callbackData != NULL)
if (packetUBXRXMQZSSL6message->callbackData != NULL)
{
delete packetUBXRXMPMPmessage->callbackData;
delete packetUBXRXMQZSSL6message->callbackData;
}
delete packetUBXRXMPMPmessage;
packetUBXRXMPMPmessage = NULL; // Redundant?
delete packetUBXRXMQZSSL6message;
packetUBXRXMQZSSL6message = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
@@ -1370,6 +1370,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if ((packetUBXRXMPMP != NULL) || (packetUBXRXMPMPmessage != NULL))
result = true;
break;
case UBX_RXM_QZSSL6:
if ((packetUBXRXMQZSSL6 != NULL) || (packetUBXRXMQZSSL6message != NULL))
result = true;
break;
case UBX_RXM_COR:
if (packetUBXRXMCOR != NULL)
result = true;
@@ -1545,6 +1549,9 @@ 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;
@@ -3830,6 +3837,55 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
if (msg->id == UBX_RXM_QZSSL6)
// Note: length is variable with version 0x01
// Note: the field positions depend on the version
{
// Parse various byte fields into storage - but only if we have memory allocated for it.
// By default, new QZSSL6 data will always overwrite 'old' data (data which is valid but which has not yet been read by the callback).
// To prevent this, uncomment the line two lines below
if ((packetUBXRXMQZSSL6 != NULL) && (packetUBXRXMQZSSL6->callbackData != NULL)
//&& (packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid == false) // <=== Uncomment this line to prevent new data from overwriting 'old'
)
{
packetUBXRXMQZSSL6->callbackData->version = extractByte(msg, 0);
packetUBXRXMQZSSL6->callbackData->svId = extractByte(msg, 1);
packetUBXRXMQZSSL6->callbackData->cno = extractInt(msg, 2);
packetUBXRXMQZSSL6->callbackData->timeTag = extractLong(msg, 4);
packetUBXRXMQZSSL6->callbackData->groupDelay = extractByte(msg, 8);
packetUBXRXMQZSSL6->callbackData->bitErrCorr = extractByte(msg, 9);
packetUBXRXMQZSSL6->callbackData->chInfo = extractInt(msg, 10);
packetUBXRXMQZSSL6->callbackData->reserved0[0] = extractByte(msg, 12);
packetUBXRXMQZSSL6->callbackData->reserved0[0] = extractByte(msg, 13);
for (uint16_t i = 0; (i < 250); i++)
{
packetUBXRXMQZSSL6->callbackData->msgBytes[i] = extractByte(msg, i + 14);
}
packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
// Full QZSSL6 message, including Class, ID and checksum
// By default, new QZSSL6 data will always overwrite 'old' data (data which is valid but which has not yet been read by the callback).
// To prevent this, uncomment the line two lines below
if ((packetUBXRXMQZSSL6message != NULL) && (packetUBXRXMQZSSL6message->callbackData != NULL)
//&& (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid == false) // <=== Uncomment this line to prevent new data from overwriting 'old'
)
{
packetUBXRXMQZSSL6message->callbackData->sync1 = UBX_SYNCH_1;
packetUBXRXMQZSSL6message->callbackData->sync2 = UBX_SYNCH_2;
packetUBXRXMQZSSL6message->callbackData->cls = UBX_CLASS_RXM;
packetUBXRXMQZSSL6message->callbackData->ID = UBX_RXM_QZSSL6;
packetUBXRXMQZSSL6message->callbackData->lengthLSB = msg->len & 0xFF;
packetUBXRXMQZSSL6message->callbackData->lengthMSB = msg->len >> 8;
memcpy(packetUBXRXMQZSSL6message->callbackData->payload, msg->payload, msg->len);
packetUBXRXMQZSSL6message->callbackData->checksumA = msg->checksumA;
packetUBXRXMQZSSL6message->callbackData->checksumB = msg->checksumB;
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
else if (msg->id == UBX_RXM_COR)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
@@ -5444,6 +5500,28 @@ 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 ((packetUBXRXMQZSSL6 != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMQZSSL6->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXRXMQZSSL6->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
&& (packetUBXRXMQZSSL6->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for RXM QZSSL6"));
packetUBXRXMQZSSL6->callbackPointerPtr(packetUBXRXMQZSSL6->callbackData); // Call the callback
packetUBXRXMQZSSL6->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
&& (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for RXM QZSSL6 message"));
packetUBXRXMQZSSL6message->callbackPointerPtr(packetUBXRXMQZSSL6message->callbackData); // Call the callback
packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
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
@@ -12561,6 +12639,97 @@ 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::setRXMQZSSL6callbackPtr(void (*callbackPointer)(UBX_RXM_QZSSL6_data_t *))
{
if (packetUBXRXMQZSSL6 == NULL)
initPacketUBXRXMQZSSL6(); // Check that RAM has been allocated for the data
if (packetUBXRXMQZSSL6 == NULL) // Only attempt this if RAM allocation was successful
return false;
if (packetUBXRXMQZSSL6->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXRXMQZSSL6->callbackData = new UBX_RXM_QZSSL6_data_t; // Allocate RAM for the main struct
}
if (packetUBXRXMQZSSL6->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("setAutoRXMQZSSL6callbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6->callbackPointerPtr = callbackPointer;
return (true);
}
// PRIVATE: Allocate RAM for packetUBXRXMQZSSL6 and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6()
{
packetUBXRXMQZSSL6 = new UBX_RXM_QZSSL6_t; // Allocate RAM for the main struct
if (packetUBXRXMQZSSL6 == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMQZSSL6: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMQZSSL6->automaticFlags.flags.all = 0;
packetUBXRXMQZSSL6->callbackPointerPtr = NULL;
packetUBXRXMQZSSL6->callbackData = NULL;
return (true);
}
// 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; // 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)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+12
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)
@@ -1163,6 +1164,13 @@ 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 setRXMQZSSL6callbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_data_t *)); // Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
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
@@ -1518,6 +1526,8 @@ 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_t *packetUBXRXMQZSSL6 = 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
@@ -1617,6 +1627,8 @@ private:
bool initPacketUBXNAVAOPSTATUS(); // Allocate RAM for packetUBXNAVAOPSTATUS and initialize it
bool initPacketUBXRXMPMP(); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMPMPmessage(); // Allocate RAM for packetUBXRXMPMPRaw and initialize it
bool initPacketUBXRXMQZSSL6(); // Allocate RAM for packetUBXRXMQZSSL6and 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 = 0x20910339; // Output rate of the UBX_RXM_QZSSL6 message on port I2C
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_SPI = 0x2091033a; // 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
+48
View File
@@ -1599,6 +1599,54 @@ 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)
const uint16_t UBX_RXM_QZSSL6_MAX_USER_DATA = 250;
const uint16_t UBX_RXM_QZSSL6_MAX_LEN = UBX_RXM_PMP_MAX_USER_DATA + 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_MAX_USER_DATA]; // Bytes in a QZSS L6 message
} UBX_RXM_QZSSL6_data_t;
// The QZSSL6 data can only be accessed via a callback. QZSSL6 cannot be polled.
typedef struct
{
ubxAutomaticFlags automaticFlags;
void (*callbackPointerPtr)(UBX_RXM_QZSSL6_data_t *);
UBX_RXM_QZSSL6_data_t *callbackData;
} UBX_RXM_QZSSL6_t;
// 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 PMP data can only be accessed via a callback. QZSSL6 cannot be polled.
typedef struct
{
ubxAutomaticFlags 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