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Add support for UBX-RXM-COR

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This commit is contained in:
PaulZC
2022-03-17 18:25:12 +00:00
parent 35868c7869
commit e35376f2e6
4 changed files with 178 additions and 22 deletions
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src/u-blox_structs.h
+82 -22
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@@ -1484,6 +1484,66 @@ typedef struct
UBX_RXM_RAWX_data_t *callbackData;
} UBX_RXM_RAWX_t;
// UBX-RXM-COR (0x02 0x34): Differential correction input status
const uint16_t UBX_RXM_COR_LEN = 12;
typedef struct
{
uint8_t version; // Message version (0x01 for this version)
uint8_t ebno; // Energy per bit to noise power spectral density ratio (Eb/N0): 2^-3 dB
// 0: unknown. Reported only for protocol UBX-RXM-PMP (SPARTN) to monitor signal quality.
uint8_t reserved0[2]; // Reserved
union
{
uint32_t all;
struct
{
uint32_t protocol : 5; // Input correction data protocol:
// 0: Unknown
// 1: RTCM3
// 2: SPARTN (Secure Position Augmentation for Real Time Navigation)
// 29: UBX-RXM-PMP (SPARTN)
// 30: UBX-RXM-QZSSL6
uint32_t errStatus : 2; // Error status of the received correction message content based on possibly available error codes or checksums:
// 0: Unknown
// 1: Error-free
// 2: Erroneous
uint32_t msgUsed : 2; // Status of receiver using the input message:
// 0: Unknown
// 1: Not used
// 2: Used
uint32_t correctionId : 16; // Identifier for the correction stream:
// For RTCM 3: Reference station ID (DF003) of the received RTCM input message.
// Valid range 0-4095.
// For all other messages, reports 0xFFFF.
// For other correction protocols 0xFFFF.
uint32_t msgTypeValid : 1; // Validity of the msgType field. Set to False e.g. if the protocol does not define msgType.
uint32_t msgSubTypeValid : 1; // Validity of the msgSubType field. Set to False e.g. if the protocol does not define subtype for the msgType.
uint32_t msgInputHandle : 1; // Input handling support of the input message:
// 0: Receiver does not have input handling support for this message
// 1: Receiver has input handling support for this message
uint32_t msgEncrypted : 2; // Encryption status of the input message:
// 0: Unknown
// 1: Not encrypted
// 2: Encrypted
uint32_t msgDecrypted : 2; // Decryption status of the input message:
// 0: Unknown
// 1: Not decrypted
// 2: Successfully decrypted
} bits;
} statusInfo;
uint16_t msgType; // Message type
uint16_t msgSubType; // Message subtype
} UBX_RXM_COR_data_t;
// The COR data can only be accessed via a callback. COR cannot be polled.
typedef struct
{
ubxAutomaticFlags automaticFlags;
void (*callbackPointerPtr)(UBX_RXM_COR_data_t *);
UBX_RXM_COR_data_t *callbackData;
} UBX_RXM_COR_t;
// UBX-RXM-PMP (0x02 0x72): PMP raw data (D9 modules)
// There are two versions of this message but, fortunately, both have a max len of 528
const uint16_t UBX_RXM_PMP_MAX_USER_DATA = 504;
@@ -1702,36 +1762,36 @@ const uint16_t UBX_MON_HW_LEN = 60;
typedef struct
{
uint32_t pinSel; // Mask of pins set as peripheral/PIO
uint32_t pinBank; // Mask of pins set as bank A/B
uint32_t pinDir; // Mask of pins set as input/output
uint32_t pinVal; // Mask of pins value low/high
uint32_t pinSel; // Mask of pins set as peripheral/PIO
uint32_t pinBank; // Mask of pins set as bank A/B
uint32_t pinDir; // Mask of pins set as input/output
uint32_t pinVal; // Mask of pins value low/high
uint16_t noisePerMS; // Noise level as measured by the GPS core
uint16_t agcCnt; // AGC monitor (counts SIGHI xor SIGLO, range 0 to 8191)
uint8_t aStatus; // Status of the antenna supervisor state machine (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN)
uint8_t aPower; // Current power status of antenna (0=OFF, 1=ON, 2=DONTKNOW)
uint16_t agcCnt; // AGC monitor (counts SIGHI xor SIGLO, range 0 to 8191)
uint8_t aStatus; // Status of the antenna supervisor state machine (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN)
uint8_t aPower; // Current power status of antenna (0=OFF, 1=ON, 2=DONTKNOW)
union
{
uint8_t all;
struct
{
uint8_t rtcCalib : 1; // RTC is calibrated
uint8_t safeBoot : 1; // Safeboot mode (0 = inactive, 1 = active)
uint8_t rtcCalib : 1; // RTC is calibrated
uint8_t safeBoot : 1; // Safeboot mode (0 = inactive, 1 = active)
uint8_t jammingState : 2; // Output from jamming/interference monitor (0 = unknown or feature disabled,
// 1 = ok - no significant jamming,
// 2 = warning - interference visible but fix OK,
// 3 = critical - interference visible and no fix)
uint8_t xtalAbsent : 1; // RTC xtal has been determined to be absent
uint8_t xtalAbsent : 1; // RTC xtal has been determined to be absent
} bits;
} flags;
uint8_t reserved1; // Reserved
uint32_t usedMask; // Mask of pins that are used by the virtual pin manager
uint8_t VP[17]; // Array of pin mappings for each of the 17 physical pins
uint8_t jamInd; // CW jamming indicator, scaled (0 = no CW jamming, 255 = strong CW jamming)
uint8_t reserved1; // Reserved
uint32_t usedMask; // Mask of pins that are used by the virtual pin manager
uint8_t VP[17]; // Array of pin mappings for each of the 17 physical pins
uint8_t jamInd; // CW jamming indicator, scaled (0 = no CW jamming, 255 = strong CW jamming)
uint8_t reserved2[2]; // Reserved
uint32_t pinIrq; // Mask of pins value using the PIO Irq
uint32_t pullH; // Mask of pins value using the PIO pull high resistor
uint8_t pullL; // Mask of pins value using the PIO pull low resistor
uint32_t pinIrq; // Mask of pins value using the PIO Irq
uint32_t pullH; // Mask of pins value using the PIO pull high resistor
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
@@ -1739,15 +1799,15 @@ 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)
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
uint32_t postStatus; // POST status word
uint8_t reserved2[4]; // Reserved
} UBX_MON_HW2_data_t;