From de3fd817393f34c5ea57982afc7893d0430f9616 Mon Sep 17 00:00:00 2001 From: PaulZC Date: Mon, 7 Mar 2022 12:42:10 +0000 Subject: [PATCH] Add support for UBX-MON-HW2. Add Example30_NEO-D9S --- .../Example30_NEO-D9S/Example30_NEO-D9S.ino | 127 ++++++++++++++++++ keywords.txt | 2 + src/SparkFun_u-blox_GNSS_Arduino_Library.cpp | 26 ++++ src/SparkFun_u-blox_GNSS_Arduino_Library.h | 3 + src/u-blox_structs.h | 17 +++ 5 files changed, 175 insertions(+) create mode 100644 examples/Example30_NEO-D9S/Example30_NEO-D9S.ino diff --git a/examples/Example30_NEO-D9S/Example30_NEO-D9S.ino b/examples/Example30_NEO-D9S/Example30_NEO-D9S.ino new file mode 100644 index 0000000..a130421 --- /dev/null +++ b/examples/Example30_NEO-D9S/Example30_NEO-D9S.ino @@ -0,0 +1,127 @@ +/* + NEO-D9S L-Band receiver example + By: SparkFun Electronics / Paul Clark + Date: March 7th, 2022 + License: MIT. See license file for more information but you can + basically do whatever you want with this code. + + This example shows how to display the NEO-D9S's received signal imbalance and magnitude, plus a summary of any received PMP data. + + Feel like supporting open source hardware? + Buy a board from SparkFun! + ZED-F9P RTK2: https://www.sparkfun.com/products/16481 + NEO-D9S: Coming soon! + + Hardware Connections: + Use a Qwiic cable to connect the NEO-D9S L-Band corection data receiver to your board + If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425) + Open the serial monitor at 115200 baud to see the output +*/ + +#include //http://librarymanager/All#SparkFun_u-blox_GNSS +SFE_UBLOX_GNSS myLBand; // NEO-D9S + +//const uint32_t myLBandFreq = 1556290000; // Uncomment this line to use the US SPARTN 1.8 service +const uint32_t myLBandFreq = 1545260000; // Uncomment this line to use the EU SPARTN 1.8 service + +#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR + +//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + +// Callback: printRXMPMP will be called when new PMP data arrives +// See u-blox_structs.h for the full definition of UBX_RXM_PMP_data_t +// _____ You can use any name you like for the callback. Use the same name when you call setRXMPMPcallbackPtr +// / _____ This _must_ be UBX_RXM_PMP_data_t +// | / _____ You can use any name you like for the struct +// | | / +// | | | +void printRXMPMP(UBX_RXM_PMP_data_t *pmpData) +{ + Serial.println(F("New PMP data received:")); + + Serial.print(F("PMP message version: ")); + Serial.println(pmpData->version); + + Serial.print(F("numBytesUserData : ")); + Serial.println(pmpData->numBytesUserData); + + Serial.print(F("serviceIdentifier: ")); + Serial.println(pmpData->serviceIdentifier); + + Serial.print(F("uniqueWordBitErrors: ")); + Serial.println(pmpData->uniqueWordBitErrors); + + Serial.print(F("fecBits: ")); + Serial.println(pmpData->fecBits); + + Serial.print(F("ebno: ")); + Serial.println(pmpData->ebno); + + Serial.println(); +} + +//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + +void setup() +{ + Serial.begin(115200); + Serial.println(F("NEO-D9S Example")); + + Wire.begin(); //Start I2C + + //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + // Begin and configure the NEO-D9S L-Band receiver + + //myLBand.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial + + while (myLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42) + { + Serial.println(F("u-blox NEO-D9S not detected at default I2C address. Please check wiring.")); + delay(2000); + } + Serial.println(F("u-blox NEO-D9S connected")); + + uint8_t ok = myLBand.setVal32(UBLOX_CFG_PMP_CENTER_FREQUENCY, myLBandFreq); // Default 1539812500 Hz + if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_SEARCH_WINDOW, 2200); // Default 2200 Hz + if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_SERVICE_ID, 0); // Default 1 + if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_SERVICE_ID, 21845); // Default 50821 + if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_DATA_RATE, 2400); // Default 2400 bps + if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_DESCRAMBLER, 1); // Default 1 + if (ok) ok = myLBand.setVal16(UBLOX_CFG_PMP_DESCRAMBLER_INIT, 26969); // Default 23560 + if (ok) ok = myLBand.setVal8(UBLOX_CFG_PMP_USE_PRESCRAMBLING, 0); // Default 0 + if (ok) ok = myLBand.setVal64(UBLOX_CFG_PMP_UNIQUE_WORD, 16238547128276412563ull); + if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C, 1); // Ensure UBX-RXM-PMP is enabled on the I2C port + if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART1, 1); // Output UBX-RXM-PMP on UART1 + if (ok) ok = myLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART2, 1); // Output UBX-RXM-PMP on UART2 + if (ok) ok = myLBand.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // match baudrate with ZED default + if (ok) ok = myLBand.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // match baudrate with ZED default + + Serial.print(F("L-Band: configuration ")); + Serial.println(OK(ok)); + + myLBand.softwareResetGNSSOnly(); // Do a restart + + myLBand.setRXMPMPcallbackPtr(&printRXMPMP); // Call printRXMPMP when new PMP data arrives +} + +//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + +void loop() +{ + myLBand.checkUblox(); // Check for the arrival of new PMP data and process it. + myLBand.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed. + + UBX_MON_HW2_data_t hwStatus; // Create storage for the HW2 extended hardware status + if (myLBand.getHW2status(&hwStatus)) // Request the extended hardware status + { + // Print the signal imbalance and magnitude + Serial.print(F("Signal imbalance and magnitude: ofsI: ")); + Serial.print(hwStatus.ofsI); + Serial.print(F(" magI: ")); + Serial.print(hwStatus.magI); + Serial.print(F(" ofsQ: ")); + Serial.print(hwStatus.ofsQ); + Serial.print(F(" magQ: ")); + Serial.println(hwStatus.magQ); + } +} diff --git a/keywords.txt b/keywords.txt index a281a07..9e34ac0 100644 --- a/keywords.txt +++ b/keywords.txt @@ -19,6 +19,7 @@ UBX_ESF_STATUS_sensorStatus_t KEYWORD1 UBX_CFG_ITFM_data_t KEYWORD1 UBX_MON_RF_data_t KEYWORD1 UBX_MON_HW_data_t KEYWORD1 +UBX_MON_HW2_data_t KEYWORD1 UBX_NAV_POSECEF_data_t KEYWORD1 UBX_NAV_STATUS_data_t KEYWORD1 @@ -195,6 +196,7 @@ setJammingConfiguration KEYWORD2 getRFinformation KEYWORD2 getHWstatus KEYWORD2 +getHW2status KEYWORD2 getAckAiding KEYWORD2 setAckAiding KEYWORD2 diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp index fb13a48..dd36b24 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp @@ -8232,6 +8232,32 @@ bool SFE_UBLOX_GNSS::getHWstatus(UBX_MON_HW_data_t *data, uint16_t maxWait) return (true); } +// Get the extended hardware status using UBX_MON_HW2 +bool SFE_UBLOX_GNSS::getHW2status(UBX_MON_HW2_data_t *data, uint16_t maxWait) +{ + if (data == NULL) // Check if the user forgot to include the data pointer + return (false); // Bail + + packetCfg.cls = UBX_CLASS_MON; + packetCfg.id = UBX_MON_HW2; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); + + // Extract the data + data->ofsI = extractSignedChar(&packetCfg, 0); + data->magI = extractByte(&packetCfg, 1); + data->ofsQ = extractSignedChar(&packetCfg, 2); + data->magQ = extractByte(&packetCfg, 3); + data->cfgSource = extractByte(&packetCfg, 4); + data->lowLevCfg = extractLong(&packetCfg, 8); // Low-level configuration (obsolete for protocol versions greater than 15.00) + data->postStatus = extractLong(&packetCfg, 20); + + return (true); +} + // UBX-CFG-NAVX5 - get/set the ackAiding byte. If ackAiding is 1, UBX-MGA-ACK messages will be sent by the module to acknowledge the MGA data uint8_t SFE_UBLOX_GNSS::getAckAiding(uint16_t maxWait) // Get the ackAiding byte - returns 255 if the sendCommand fails { diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.h b/src/SparkFun_u-blox_GNSS_Arduino_Library.h index e81d7d0..45c4594 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.h +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.h @@ -928,6 +928,9 @@ public: // Hardware status (including jamming) bool getHWstatus(UBX_MON_HW_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the hardware status using UBX_MON_HW + // Extended hardware status + bool getHW2status(UBX_MON_HW2_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the extended hardware status using UBX_MON_HW2 + // UBX-CFG-NAVX5 - get/set the ackAiding byte. If ackAiding is 1, UBX-MGA-ACK messages will be sent by the module to acknowledge the MGA data uint8_t getAckAiding(uint16_t maxWait = defaultMaxWait); // Get the ackAiding byte - returns 255 if the sendCommand fails bool setAckAiding(uint8_t ackAiding, uint16_t maxWait = defaultMaxWait); // Set the ackAiding byte diff --git a/src/u-blox_structs.h b/src/u-blox_structs.h index 2a29822..3bef638 100644 --- a/src/u-blox_structs.h +++ b/src/u-blox_structs.h @@ -1734,6 +1734,23 @@ typedef struct uint8_t pullL; // Mask of pins value using the PIO pull low resistor } UBX_MON_HW_data_t; +// UBX-MON-HW2 (0x0A 0x0B): Extended hardware status +const uint16_t UBX_MON_HW2_LEN = 28; + +typedef struct +{ + int8_t ofsI; // Imbalance of I-part of complex signal, scaled (-128 = max. negative imbalance, 127 = max. positive imbalance) + uint8_t magI; // Magnitude of I-part of complex signal, scaled (0 = no signal, 255 = max. magnitude) + int8_t ofsQ; // Imbalance of Q-part of complex signal, scaled (-128 = max. negative imbalance, 127 = max. positive imbalance) + uint8_t magQ; // Magnitude of Q-part of complex signal, scaled (0 = no signal, 255 = max. magnitude) + uint8_t cfgSource; // Source of low-level configuration (114 = ROM, 111 = OTP, 112 = config pins, 102 = flash image) + uint8_t reserved0[3]; + uint32_t lowLevCfg; // Low-level configuration (obsolete for protocol versions greater than 15.00) + uint8_t reserved1[8]; + uint32_t postStatus; // POST status word + uint8_t reserved2[4]; // Reserved +} UBX_MON_HW2_data_t; + // UBX-MON-RF (0x0a 0x38): RF information const uint16_t UBX_MON_RF_MAX_BLOCKS = 2; // 0 = L1; 1 = L2 / L5 const uint16_t UBX_MON_RF_MAX_LEN = 4 + (24 * UBX_MON_RF_MAX_BLOCKS);