PlatformIO-Libs/SparkFunGNSS
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add support for UBX-MON-HW2. Add Example30_NEO-D9S

Browse Source
This commit is contained in:
PaulZC
2022-03-07 12:42:10 +00:00
parent cf47a92895
commit de3fd81739
5 changed files with 175 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/Example30_NEO-D9S/Example30_NEO-D9S.ino
+127
View File
@@ -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 <SparkFun_u-blox_GNSS_Arduino_Library.h> //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);
}
}
keywords.txt
+2
View File
@@ -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
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+26
View File
@@ -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
{
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+3
View File
@@ -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
src/u-blox_structs.h
+17
View File
@@ -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);