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Add UBX-RXM-COR to ZED examples 19 and 20

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This commit is contained in:
PaulZC
2022-03-17 18:42:32 +00:00
parent 05854ebbc4
commit a186664fab
2 changed files with 134 additions and 4 deletions
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examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S/Example19_LBand_Corrections_with_NEO-D9S.ino
+65
View File
@@ -121,6 +121,67 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printRXMCOR will be called when new RXM COR data arrives
// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
// / _____ This _must_ be UBX_RXM_COR_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
{
Serial.print(F("UBX-RXM-COR: ebno: "));
Serial.print(ubxDataStruct->ebno);
Serial.print(F(" protocol: "));
if (ubxDataStruct->statusInfo.bits.protocol == 1)
Serial.print(F("RTCM3"));
else if (ubxDataStruct->statusInfo.bits.protocol == 2)
Serial.print(F("SPARTN"));
else if (ubxDataStruct->statusInfo.bits.protocol == 29)
Serial.print(F("PMP (SPARTN)"));
else if (ubxDataStruct->statusInfo.bits.protocol == 30)
Serial.print(F("QZSSL6"));
else
Serial.print(F("Unknown"));
Serial.print(F(" errStatus: "));
if (ubxDataStruct->statusInfo.bits.errStatus == 1)
Serial.print(F("Error-free"));
else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
Serial.print(F("Erroneous"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgUsed: "));
if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
Serial.print(F("Not used"));
else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
Serial.print(F("Used"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgEncrypted: "));
if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
Serial.print(F("Not encrypted"));
else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
Serial.print(F("Encrypted"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgDecrypted: "));
if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
Serial.print(F("Not decrypted"));
else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
Serial.print(F("Successfully decrypted"));
else
Serial.print(F("Unknown"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
{
Serial.begin(115200);
@@ -148,6 +209,8 @@ void setup()
if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 1); // use LBAND PMP message
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
//Configure the SPARTN IP Dynamic Keys
//"When the receiver boots, the host should send 'current' and 'next' keys in one message." - Use setDynamicSPARTNKeys for this.
@@ -164,6 +227,8 @@ void setup()
myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the PMP data is being decrypted successfully
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Begin and configure the NEO-D9S L-Band receiver
examples/ZED-F9P/Example20_PMP_with_L-Band_Keys_via_MQTT/Example20_PMP_with_L-Band_Keys_via_MQTT.ino
+69 -4
View File
@@ -58,6 +58,13 @@ const uint32_t myLBandFreq = 1556290000; // Uncomment this line to use the US SP
#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Global variables
long lastReceived_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: pushRXMPMP will be called when new PMP data arrives
@@ -143,11 +150,65 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//Global variables
long lastReceived_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
// Callback: printRXMCOR will be called when new RXM COR data arrives
// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
// / _____ This _must_ be UBX_RXM_COR_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
{
Serial.print(F("UBX-RXM-COR: ebno: "));
Serial.print(ubxDataStruct->ebno);
Serial.print(F(" protocol: "));
if (ubxDataStruct->statusInfo.bits.protocol == 1)
Serial.print(F("RTCM3"));
else if (ubxDataStruct->statusInfo.bits.protocol == 2)
Serial.print(F("SPARTN"));
else if (ubxDataStruct->statusInfo.bits.protocol == 29)
Serial.print(F("PMP (SPARTN)"));
else if (ubxDataStruct->statusInfo.bits.protocol == 30)
Serial.print(F("QZSSL6"));
else
Serial.print(F("Unknown"));
Serial.print(F(" errStatus: "));
if (ubxDataStruct->statusInfo.bits.errStatus == 1)
Serial.print(F("Error-free"));
else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
Serial.print(F("Erroneous"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgUsed: "));
if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
Serial.print(F("Not used"));
else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
Serial.print(F("Used"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgEncrypted: "));
if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
Serial.print(F("Not encrypted"));
else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
Serial.print(F("Encrypted"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgDecrypted: "));
if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
Serial.print(F("Not decrypted"));
else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
Serial.print(F("Successfully decrypted"));
else
Serial.print(F("Unknown"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -180,6 +241,8 @@ void setup()
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 1); // use LBAND PMP message
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
//if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
Serial.print(F("GNSS: configuration "));
@@ -187,6 +250,8 @@ void setup()
myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the PMP data is being decrypted successfully
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Begin and configure the NEO-D9S L-Band receiver