118 lines
5.2 KiB
Arduino
118 lines
5.2 KiB
Arduino
/*
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NEO-D9C QZSS-L6 receiver example
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By: SparkFun Electronics / Paul Clark
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Date: September 23rd, 2022
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to display a summary of the NEO-D9C's UBX-RXM-QZSSL6 data.
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It also enables UBX-RXM-QZSSL6 message output on both UART1 and UART2 at 38400 baud
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so you can feed the corrections directly to (e.g.) a ZED-F9P.
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It is not clear if the NEO-D9C's default I2C address is 0x43 or 0x42. It may depend
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on what firmware version is installed. If the NEO-D9C is not detected at 0x43, please
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try 0x42. (Please note: the ZED-F9P's default address is also 0x42)
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/16481
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NEO-D9S L-Band Correction Data Receiver: https://www.sparkfun.com/products/19390
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Hardware Connections:
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Use a Qwiic cable to connect the NEO-D9C QZSS-L6 corection data receiver to your board
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myQZSS; // NEO-D9C
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#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printRXMQZSSL6 will be called when new QZSS-L6 data arrives
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// See u-blox_structs.h for the full definition of UBX_RXM_QZSSL6_message_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setRXMQZSSL6messageCallbackPtr
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// / _____ This _must_ be UBX_RXM_QZSSL6_message_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printRXMQZSSL6(UBX_RXM_QZSSL6_message_data_t *qzssL6Data)
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{
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Serial.println(F("New QZSS-L6 data received:"));
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Serial.print(F("Message version: "));
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Serial.println(qzssL6Data->payload[0]);
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Serial.print(F("Satellite Identifier: "));
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Serial.println(qzssL6Data->payload[1]);
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Serial.print(F("Carrier / Noise: "));
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double cno = (0.00390625 * ((double)qzssL6Data->payload[2])) + ((double)qzssL6Data->payload[3]);
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Serial.println(cno, 1);
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Serial.print(F("Bit Errors Corrected: "));
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Serial.println(qzssL6Data->payload[9]);
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uint16_t chInfo = (((uint16_t)qzssL6Data->payload[11]) << 8) | qzssL6Data->payload[10];
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uint16_t errStatus = ((chInfo >> 12) & 0x3);
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Serial.print(F("Receiver Channel: "));
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Serial.println((chInfo >> 8) & 0x3);
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Serial.print(F("Message Name: L6"));
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Serial.println(((chInfo >> 10) & 0x1) == 0 ? F("D") : F("E"));
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Serial.print(F("Error Status: "));
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if (errStatus == 1)
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Serial.println("error-free");
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else if (errStatus == 2)
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Serial.println("erroneous");
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else
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Serial.println("unknown");
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Serial.print(F("Channel Name: "));
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Serial.println(((chInfo >> 14) & 0x3) == 0 ? F("A") : F("B"));
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Serial.println();
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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Serial.begin(115200);
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Serial.println(F("NEO-D9C Example"));
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Wire.begin(); //Start I2C
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Begin and configure the NEO-D9C QZSS-L6 receiver
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//myQZSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
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while (myQZSS.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9C using Wire port. If 0x43 does not work, try 0x42
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{
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Serial.println(F("u-blox NEO-D9C not detected at selected I2C address. Please check wiring and I2C address."));
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delay(2000);
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}
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Serial.println(F("u-blox NEO-D9C connected"));
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uint8_t ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 1); // Output QZSS-L6 message on the I2C port
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1, 1); // Output QZSS-L6 message on UART1
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // Match UART1 baudrate with ZED
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1); // Enable UBX output on UART2
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if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2, 1); // Output QZSS-L6 message on UART2
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if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // Match UART2 baudrate with ZED
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Serial.print(F("QZSS-L6: configuration "));
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Serial.println(OK(ok));
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myQZSS.setRXMQZSSL6messageCallbackPtr(&printRXMQZSSL6); // Call printRXMQZSSL6 when new QZSS-L6 data arrives
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void loop()
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{
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myQZSS.checkUblox(); // Check for the arrival of new QZSS-L6 data and process it.
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myQZSS.checkCallbacks(); // Check if any QZSS-L6 callbacks are waiting to be processed.
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}
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