PlatformIO-Libs/SparkFunGNSS
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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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keywords.txt
+5
View File
@@ -40,6 +40,7 @@ UBX_NAV_AOPSTATUS_data_t KEYWORD1
UBX_RXM_PMP_data_t KEYWORD1
UBX_RXM_PMP_message_data_t KEYWORD1
UBX_RXM_COR_data_t KEYWORD1
UBX_RXM_SFRBX_data_t KEYWORD1
UBX_RXM_RAWX_data_t KEYWORD1
@@ -393,6 +394,8 @@ logAOPSTATUS KEYWORD2
setRXMPMPcallbackPtr KEYWORD2
setRXMPMPmessageCallbackPtr KEYWORD2
setRXMCORcallbackPtr KEYWORD2
getRXMSFRBX KEYWORD2
setAutoRXMSFRBX KEYWORD2
setAutoRXMSFRBXrate KEYWORD2
@@ -772,6 +775,8 @@ UBX_NAV_TIMELS LITERAL1
UBX_NAV_VELECEF LITERAL1
UBX_NAV_VELNED LITERAL1
UBX_RXM_PMP LITERAL1
UBX_RXM_COR LITERAL1
UBX_RXM_RAWX LITERAL1
UBX_RXM_SFRBX LITERAL1
UBX_RXM_SPARTN LITERAL1
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+87
View File
@@ -294,6 +294,16 @@ void SFE_UBLOX_GNSS::end(void)
packetUBXRXMPMPmessage = NULL; // Redundant?
}
if (packetUBXRXMCOR != NULL)
{
if (packetUBXRXMCOR->callbackData != NULL)
{
delete packetUBXRXMCOR->callbackData;
}
delete packetUBXRXMCOR;
packetUBXRXMCOR = NULL; // Redundant?
}
if (packetUBXRXMSFRBX != NULL)
{
if (packetUBXRXMSFRBX->callbackData != NULL)
@@ -1333,6 +1343,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
if ((packetUBXRXMPMP != NULL) || (packetUBXRXMPMPmessage != NULL))
result = true;
break;
case UBX_RXM_COR:
if (packetUBXRXMCOR != NULL)
result = true;
break;
}
}
break;
@@ -1504,6 +1518,9 @@ 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_COR:
maxSize = UBX_RXM_COR_LEN;
break;
}
}
break;
@@ -3772,6 +3789,22 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
else if (msg->id == UBX_RXM_COR)
{
// Parse various byte fields into storage - but only if we have memory allocated for it
if ((packetUBXRXMCOR != NULL) && (packetUBXRXMCOR->callbackData != NULL)
//&& (packetUBXRXMCOR->automaticFlags.flags.bits.callbackCopyValid == false) // <=== Uncomment this line to prevent new data from overwriting 'old'
)
{
packetUBXRXMCOR->callbackData->version = extractByte(msg, 0);
packetUBXRXMCOR->callbackData->ebno = extractByte(msg, 1);
packetUBXRXMCOR->callbackData->statusInfo.all = extractLong(msg, 4);
packetUBXRXMCOR->callbackData->msgType = extractInt(msg, 8);
packetUBXRXMCOR->callbackData->msgSubType = extractInt(msg, 10);
packetUBXRXMCOR->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
}
}
else if (msg->id == UBX_RXM_SFRBX)
// Note: length is variable
// Note: on protocol version 17: numWords is (0..16)
@@ -5359,6 +5392,17 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
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
&& (packetUBXRXMCOR->callbackPointerPtr != NULL) // If the pointer to the callback has been defined
&& (packetUBXRXMCOR->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
{
// if (_printDebug == true)
// _debugSerial->println(F("checkCallbacks: calling callbackPtr for RXM COR"));
packetUBXRXMCOR->callbackPointerPtr(packetUBXRXMCOR->callbackData); // Call the callback
packetUBXRXMCOR->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
}
if ((packetUBXRXMSFRBX != NULL) // If RAM has been allocated for message storage
&& (packetUBXRXMSFRBX->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXRXMSFRBX->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
@@ -12316,6 +12360,49 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMPMPmessage()
return (true);
}
bool SFE_UBLOX_GNSS::setRXMCORcallbackPtr(void (*callbackPointer)(UBX_RXM_COR_data_t *))
{
if (packetUBXRXMCOR == NULL)
initPacketUBXRXMCOR(); // Check that RAM has been allocated for the data
if (packetUBXRXMCOR == NULL) // Only attempt this if RAM allocation was successful
return false;
if (packetUBXRXMCOR->callbackData == NULL) // Check if RAM has been allocated for the callback copy
{
packetUBXRXMCOR->callbackData = new UBX_RXM_COR_data_t; // Allocate RAM for the main struct
}
if (packetUBXRXMCOR->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("setAutoRXMCORcallbackPtr: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMCOR->callbackPointerPtr = callbackPointer;
return (true);
}
// PRIVATE: Allocate RAM for packetUBXRXMCOR and initialize it
bool SFE_UBLOX_GNSS::initPacketUBXRXMCOR()
{
packetUBXRXMCOR = new UBX_RXM_COR_t; // Allocate RAM for the main struct
if (packetUBXRXMCOR == NULL)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
_debugSerial->println(F("initPacketUBXRXMCOR: RAM alloc failed!"));
#endif
return (false);
}
packetUBXRXMCOR->automaticFlags.flags.all = 0;
packetUBXRXMCOR->callbackPointerPtr = NULL;
packetUBXRXMCOR->callbackData = NULL;
return (true);
}
// ***** RXM SFRBX automatic support
bool SFE_UBLOX_GNSS::getRXMSFRBX(uint16_t maxWait)
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+4
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@@ -1159,6 +1159,8 @@ 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
bool setRXMCORcallbackPtr(void (*callbackPointerPtr)(UBX_RXM_COR_data_t *)); // RXM COR
bool getRXMSFRBX(uint16_t maxWait = defaultMaxWait); // RXM SFRBX
bool setAutoRXMSFRBX(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic RXM SFRBX reports at the navigation frequency
bool setAutoRXMSFRBX(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic RXM SFRBX reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
@@ -1512,6 +1514,7 @@ 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_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
@@ -1610,6 +1613,7 @@ private:
bool initPacketUBXNAVAOPSTATUS(); // Allocate RAM for packetUBXNAVAOPSTATUS and initialize it
bool initPacketUBXRXMPMP(); // Allocate RAM for packetUBXRXMPMP and initialize it
bool initPacketUBXRXMPMPmessage(); // Allocate RAM for packetUBXRXMPMPRaw 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
bool initPacketUBXCFGPRT(); // Allocate RAM for packetUBXCFGPRT and initialize it
src/u-blox_structs.h
+60
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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;