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Merge pull request #145 from mazgch/mazgch-support-NEOD9C

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Add basic support NEO-D9C
This commit is contained in:
Paul
2022-07-29 08:45:54 +01:00
committed by GitHub
parent a5b1da4001 1e5c02cddd
commit ab058f0fff
4 changed files with 183 additions and 0 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+102
View File
@@ -341,6 +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)
@@ -1398,6 +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;
@@ -1579,6 +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;
@@ -3923,6 +3940,31 @@ 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
{
// 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
@@ -5563,6 +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
@@ -13029,6 +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)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+9
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)
@@ -1181,6 +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
@@ -1538,6 +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
@@ -1639,6 +1647,7 @@ private:
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
+56
View File
@@ -1629,6 +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