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Add NEO-D9C + ZED-F9x Example22
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‎examples/Example32_NEO-D9C/Example32_NEO-D9C.ino

Lines changed: 24 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,18 @@
99
It also enables UBX-RXM-QZSSL6 message output on both UART1 and UART2 at 38400 baud
1010
so you can feed the corrections directly to (e.g.) a ZED-F9P.
1111
12-
It is not clear if the NEO-D9C's default I2C address is 0x43 or 0x42. It may depend
13-
on what firmware version is installed. If the NEO-D9C is not detected at 0x43, please
14-
try 0x42. (Please note: the ZED-F9P's default address is also 0x42)
12+
We believe the NEO-D9C's I2C address should be 0x43 (like the NEO-D9S). But, reported by users in Japan,
13+
the initial NEO-D9C's use address 0x42 - which is the same as the ZED-F9P.
1514
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If you have one of the initial NEO-D9C's, the address 0x42 should work for you.
16+
If you have a newer or upgraded NEO-D9C, then you may need to change to 0x43. See line 100.
17+
18+
Also, again reported by users in Japan, the initial NEO-D9C's do not support UBX-CFG-PRT.
19+
The library uses UBX-CFG-PRT inside .begin (.isConnected) to check if the module is connected.
20+
This then fails with the initial NEO-D9C's.
21+
The work-around is to set the .begin assumeSuccess parameter to true.
22+
With newer NEO-D9C's this work-around may not be necessary. Again see line 100.
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1624
Feel like supporting open source hardware?
1725
Buy a board from SparkFun!
1826
ZED-F9P RTK2: https://www.sparkfun.com/products/16481
@@ -88,21 +96,32 @@ void setup()
8896

8997
//myQZSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
9098

91-
while (myQZSS.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9C using Wire port. If 0x43 does not work, try 0x42
99+
// For the initial NEO-D9C's: connect using address 0x42; set the assumeSuccess parameter to true
100+
while (myQZSS.begin(Wire, 0x42, 1100, true) == false)
101+
// For newer NEO-D9C's: use address 0x43; leave assumeSuccess set to false (default)
102+
//while (myQZSS.begin(Wire, 0x43) == false)
92103
{
93104
Serial.println(F("u-blox NEO-D9C not detected at selected I2C address. Please check wiring and I2C address."));
94105
delay(2000);
95106
}
96107
Serial.println(F("u-blox NEO-D9C connected"));
97108

98109
uint8_t ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 1); // Output QZSS-L6 message on the I2C port
110+
111+
Serial.print(F("QZSS-L6: I2C configuration "));
112+
Serial.println(OK(ok));
113+
99114
if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1, 1); // Output QZSS-L6 message on UART1
100115
if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // Match UART1 baudrate with ZED
116+
117+
Serial.print(F("QZSS-L6: UART1 configuration "));
118+
Serial.println(OK(ok));
119+
101120
if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1); // Enable UBX output on UART2
102121
if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2, 1); // Output QZSS-L6 message on UART2
103122
if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // Match UART2 baudrate with ZED
104123

105-
Serial.print(F("QZSS-L6: configuration "));
124+
Serial.print(F("QZSS-L6: UART2 configuration "));
106125
Serial.println(OK(ok));
107126

108127
myQZSS.setRXMQZSSL6messageCallbackPtr(&printRXMQZSSL6); // Call printRXMQZSSL6 when new QZSS-L6 data arrives

‎examples/ZED-F9P/Example22_QZSSL6_Corrections_with_NEO-D9C/Example22_QZSSL6_Corrections_with_NEO-D9C.ino

Lines changed: 312 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,312 @@
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/*
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Use the NEO-D9C QZSS-L6 receiver to provide corrections to a ZED-F9x via UART
3+
By: SparkFun Electronics / Paul Clark
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Based on original code by: u-blox AG / Michael Ammann
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Date: September 23rd, 2022
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License: MIT. See license file for more information but you can
7+
basically do whatever you want with this code.
8+
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This example shows how to configure a NEO-D9C QZSS-L6 receiver and have it send coorection data to a ZED-F9x via Serial (UART).
10+
11+
We believe the NEO-D9C's I2C address should be 0x43 (like the NEO-D9S). But, reported by users in Japan,
12+
the initial NEO-D9C's use address 0x42 - which is the same as the ZED-F9P....
13+
14+
As a work-around, this example expects the ZED-F9P to be connected via UART1 Serial (Teensy Serial1) to avoid a collision
15+
on the I2C bus.
16+
17+
(Yes, OK, it is straight-forward to change the NEO-D9C's I2C address. But, with this example, you do not need to do that.)
18+
19+
Also, again reported by users in Japan, the initial NEO-D9C's do not support UBX-CFG-PRT.
20+
The library uses UBX-CFG-PRT inside .begin (.isConnected) to check if the module is connected.
21+
This then fails with the initial NEO-D9C's.
22+
The work-around is to set the .begin assumeSuccess parameter to true.
23+
With newer NEO-D9C's this work-around may not be necessary. See line 272.
24+
25+
Connections: e.g. for Teensy 4.0, Geosense D9CX1 NEO-D9C and SparkFun ZED-F9P:
26+
27+
Teensy 5V (Vin) -> ZED-F9P 5V -> D9CX1 V5V (JP1 Pin 2)
28+
Teensy GND -> ZED-F9P GND -> D9CX1 GND (JP1 Pin 1)
29+
Teensy SDA1 (17) -> D9CX1 SDA (JP1 Pin 5)
30+
Teensy SCL1 (16) -> D9CX1 SCL (JP1 Pin 6)
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Teensy Serial1 TX1 (1) -> ZED-F9P UART1 RX1
32+
Teensy Serial1 RX1 (0) -> ZED-F9P UART1 TX1
33+
D9CX1 UART1 TX1 (JP1 Pin 3) -> ZED-F9P UART2 RX2
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D9CX1 UART1 RX1 (JP1 Pin 4) -> ZED-F9P UART2 TX2
35+
36+
The Teensy communicates with the NEO-D9C (D9CX1) via I2C on address 0x42
37+
The Teensy communicates with the ZED-F9P via UART (Serial1 on Teensy, UART1 on ZED) to avoid the I2C address collision
38+
The NEO-D9C corrections (UBX-RXM-QZSSL6) are sent from NEO UART1 to ZED UART2
39+
40+
Feel like supporting open source hardware?
41+
Buy a board from SparkFun!
42+
ZED-F9P RTK2: https://www.sparkfun.com/products/16481
43+
NEO-D9S L-Band Correction Data Receiver: https://www.sparkfun.com/products/19390
44+
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Hardware Connections:
46+
Use Qwiic cables to connect the NEO-D9S and ZED-F9x GNSS to your board
47+
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
48+
Open the serial monitor at 115200 baud to see the output
49+
*/
50+
51+
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
52+
SFE_UBLOX_GNSS myGNSS; // ZED-F9x
53+
SFE_UBLOX_GNSS myQZSS; // NEO-D9C
54+
55+
#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR
56+
57+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
58+
59+
// Callback: printRXMQZSSL6 will be called when new QZSS-L6 data arrives
60+
// See u-blox_structs.h for the full definition of UBX_RXM_QZSSL6_message_data_t
61+
// _____ You can use any name you like for the callback. Use the same name when you call setRXMQZSSL6messageCallbackPtr
62+
// / _____ This _must_ be UBX_RXM_QZSSL6_message_data_t
63+
// | / _____ You can use any name you like for the struct
64+
// | | /
65+
// | | |
66+
void printRXMQZSSL6(UBX_RXM_QZSSL6_message_data_t *qzssL6Data)
67+
{
68+
Serial.println(F("New QZSS-L6 data received:"));
69+
70+
Serial.print(F("Message version: "));
71+
Serial.println(qzssL6Data->payload[0]);
72+
73+
Serial.print(F("Satellite Identifier: "));
74+
Serial.println(qzssL6Data->payload[1]);
75+
76+
Serial.print(F("Carrier / Noise: "));
77+
double cno = (0.00390625 * ((double)qzssL6Data->payload[2])) + ((double)qzssL6Data->payload[3]);
78+
Serial.println(cno, 1);
79+
80+
Serial.print(F("Bit Errors Corrected: "));
81+
Serial.println(qzssL6Data->payload[9]);
82+
83+
uint16_t chInfo = (((uint16_t)qzssL6Data->payload[11]) << 8) | qzssL6Data->payload[10];
84+
uint16_t errStatus = ((chInfo >> 12) & 0x3);
85+
Serial.print(F("Receiver Channel: "));
86+
Serial.println((chInfo >> 8) & 0x3);
87+
Serial.print(F("Message Name: L6"));
88+
Serial.println(((chInfo >> 10) & 0x1) == 0 ? F("D") : F("E"));
89+
Serial.print(F("Error Status: "));
90+
if (errStatus == 1)
91+
Serial.println("error-free");
92+
else if (errStatus == 2)
93+
Serial.println("erroneous");
94+
else
95+
Serial.println("unknown");
96+
Serial.print(F("Channel Name: "));
97+
Serial.println(((chInfo >> 14) & 0x3) == 0 ? F("A") : F("B"));
98+
99+
Serial.println();
100+
}
101+
102+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
103+
104+
// Callback: printPVTdata will be called when new NAV PVT data arrives
105+
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
106+
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
107+
// / _____ This _must_ be UBX_NAV_PVT_data_t
108+
// | / _____ You can use any name you like for the struct
109+
// | | /
110+
// | | |
111+
void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
112+
{
113+
double latitude = ubxDataStruct->lat; // Print the latitude
114+
Serial.print(F("Lat: "));
115+
Serial.print(latitude / 10000000.0, 7);
116+
117+
double longitude = ubxDataStruct->lon; // Print the longitude
118+
Serial.print(F(" Long: "));
119+
Serial.print(longitude / 10000000.0, 7);
120+
121+
double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
122+
Serial.print(F(" Height: "));
123+
Serial.print(altitude / 1000.0, 3);
124+
125+
uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
126+
Serial.print(F(" Fix: "));
127+
Serial.print(fixType);
128+
if (fixType == 0)
129+
Serial.print(F(" (None)"));
130+
else if (fixType == 1)
131+
Serial.print(F(" (Dead Reckoning)"));
132+
else if (fixType == 2)
133+
Serial.print(F(" (2D)"));
134+
else if (fixType == 3)
135+
Serial.print(F(" (3D)"));
136+
else if (fixType == 3)
137+
Serial.print(F(" (GNSS + Dead Reckoning)"));
138+
else if (fixType == 5)
139+
Serial.print(F(" (Time Only)"));
140+
else
141+
Serial.print(F(" (UNKNOWN)"));
142+
143+
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
144+
Serial.print(F(" Carrier Solution: "));
145+
Serial.print(carrSoln);
146+
if (carrSoln == 0)
147+
Serial.print(F(" (None)"));
148+
else if (carrSoln == 1)
149+
Serial.print(F(" (Floating)"));
150+
else if (carrSoln == 2)
151+
Serial.print(F(" (Fixed)"));
152+
else
153+
Serial.print(F(" (UNKNOWN)"));
154+
155+
uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
156+
Serial.print(F(" Horizontal Accuracy Estimate: "));
157+
Serial.print(hAcc);
158+
Serial.print(F(" (mm)"));
159+
160+
Serial.println();
161+
}
162+
163+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printRXMCOR will be called when new RXM COR data arrives
166+
// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
167+
// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
168+
// / _____ This _must_ be UBX_RXM_COR_data_t
169+
// | / _____ You can use any name you like for the struct
170+
// | | /
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// | | |
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void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
173+
{
174+
Serial.print(F("UBX-RXM-COR: ebno: "));
175+
Serial.print(ubxDataStruct->ebno);
176+
177+
Serial.print(F(" protocol: "));
178+
if (ubxDataStruct->statusInfo.bits.protocol == 1)
179+
Serial.print(F("RTCM3"));
180+
else if (ubxDataStruct->statusInfo.bits.protocol == 2)
181+
Serial.print(F("SPARTN"));
182+
else if (ubxDataStruct->statusInfo.bits.protocol == 29)
183+
Serial.print(F("PMP (SPARTN)"));
184+
else if (ubxDataStruct->statusInfo.bits.protocol == 30)
185+
Serial.print(F("QZSSL6"));
186+
else
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Serial.print(F("Unknown"));
188+
189+
Serial.print(F(" errStatus: "));
190+
if (ubxDataStruct->statusInfo.bits.errStatus == 1)
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Serial.print(F("Error-free"));
192+
else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
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Serial.print(F("Erroneous"));
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else
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Serial.print(F("Unknown"));
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Serial.print(F(" msgUsed: "));
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if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
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Serial.print(F("Not used"));
200+
else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
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Serial.print(F("Used"));
202+
else
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Serial.print(F("Unknown"));
204+
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Serial.print(F(" msgEncrypted: "));
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if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
207+
Serial.print(F("Not encrypted"));
208+
else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
209+
Serial.print(F("Encrypted"));
210+
else
211+
Serial.print(F("Unknown"));
212+
213+
Serial.print(F(" msgDecrypted: "));
214+
if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
215+
Serial.print(F("Not decrypted"));
216+
else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
217+
Serial.print(F("Successfully decrypted"));
218+
else
219+
Serial.print(F("Unknown"));
220+
221+
Serial.println();
222+
}
223+
224+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
225+
226+
void setup()
227+
{
228+
Serial.begin(115200);
229+
Serial.println(F("NEO-D9C Corrections"));
230+
231+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
232+
// Begin and configure the ZED-F9x
233+
234+
Serial1.begin(38400); // The ZED-F9P is connected via Serial1 to UART1
235+
236+
//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
237+
238+
while (myGNSS.begin(Serial1) == false) //Connect to the u-blox module using Serial1 and UART1
239+
{
240+
Serial.println(F("u-blox GNSS module not detected. Please check wiring."));
241+
delay(2000);
242+
}
243+
Serial.println(F("u-blox GNSS module connected"));
244+
245+
uint8_t ok = myGNSS.setUART1Output(COM_TYPE_UBX); //Turn off NMEA noise
246+
247+
if (ok) ok = myGNSS.setPortInput(COM_PORT_UART2, COM_TYPE_UBX | COM_TYPE_RTCM3 | COM_TYPE_SPARTN); //Be sure SPARTN input is enabled on UART2
248+
249+
if (ok) ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
250+
251+
if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
252+
253+
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_UART1, 1); // Enable UBX-RXM-COR messages on UART2
254+
255+
//if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
256+
257+
Serial.print(F("GNSS: configuration "));
258+
Serial.println(OK(ok));
259+
260+
myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
261+
262+
myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the QZSS-L6 data is being decrypted successfully
263+
264+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
265+
// Begin and configure the NEO-D9C QZSS-L6 receiver
266+
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Wire.begin(); //Start I2C
268+
269+
//myQZSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
270+
271+
// For the initial NEO-D9C's: connect using address 0x42; set the assumeSuccess parameter to true
272+
while (myQZSS.begin(Wire, 0x42, 1100, true) == false)
273+
// For newer NEO-D9C's: use address 0x43; leave assumeSuccess set to false (default)
274+
//while (myQZSS.begin(Wire, 0x43) == false)
275+
{
276+
Serial.println(F("u-blox NEO-D9C not detected at selected I2C address. Please check wiring and I2C address."));
277+
delay(2000);
278+
}
279+
Serial.println(F("u-blox NEO-D9C connected"));
280+
281+
ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 1); // Output QZSS-L6 message on the I2C port
282+
283+
Serial.print(F("QZSS-L6: I2C configuration "));
284+
Serial.println(OK(ok));
285+
286+
if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART1OUTPROT_UBX, 1); // Enable UBX output on UART1
287+
if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1, 1); // Output QZSS-L6 message on UART1
288+
if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART1_BAUDRATE, 38400); // Match UART1 baudrate with ZED
289+
290+
Serial.print(F("QZSS-L6: UART1 configuration "));
291+
Serial.println(OK(ok));
292+
293+
if (ok) ok = myQZSS.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1); // Enable UBX output on UART2
294+
if (ok) ok = myQZSS.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2, 1); // Output QZSS-L6 message on UART2
295+
if (ok) ok = myQZSS.setVal32(UBLOX_CFG_UART2_BAUDRATE, 38400); // Match UART2 baudrate with ZED
296+
297+
Serial.print(F("QZSS-L6: UART2 configuration "));
298+
Serial.println(OK(ok));
299+
300+
myQZSS.setRXMQZSSL6messageCallbackPtr(&printRXMQZSSL6); // Call printRXMQZSSL6 when new QZSS-L6 data arrives
301+
}
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303+
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
304+
305+
void loop()
306+
{
307+
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
308+
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
309+
310+
myQZSS.checkUblox(); // Check for the arrival of new QZSS-L6 data and process it.
311+
myQZSS.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed.
312+
}

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