Add basic support NEO-D9C

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -321,6 +321,16 @@ void SFE_UBLOX_GNSS::end(void)
     packetUBXRXMPMPmessage = NULL; // Redundant?
   }
 
+  if (packetUBXRXMQZSSL6message != NULL)
+  {
+    if (packetUBXRXMQZSSL6message->callbackData != NULL)
+    {
+      delete [] packetUBXRXMQZSSL6message->callbackData;
+    }
+    delete packetUBXRXMQZSSL6message;
+    packetUBXRXMQZSSL6message = NULL; // Redundant?
+  }
+
   if (packetUBXRXMCOR != NULL)
   {
     if (packetUBXRXMCOR->callbackData != NULL)
@@ -1370,6 +1380,10 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
       if ((packetUBXRXMPMP != NULL) || (packetUBXRXMPMPmessage != NULL))
         result = true;
       break;
+    case UBX_RXM_QZSSL6:
+      if (packetUBXRXMQZSSL6message != NULL)
+        result = true;
+      break;
     case UBX_RXM_COR:
       if (packetUBXRXMCOR != NULL)
         result = true;
@@ -1545,6 +1559,9 @@ 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_QZSSL6:
+      maxSize = UBX_RXM_QZSSL6_MAX_LEN;
+      break;
     case UBX_RXM_COR:
       maxSize = UBX_RXM_COR_LEN;
       break;
@@ -3830,6 +3847,31 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
         packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = true; // Mark the data as valid
       }
     }
+    if (msg->id == UBX_RXM_QZSSL6)
+    // Note: length is variable with version 0x01
+    // Note: the field positions depend on the version
+    {
+      // Full QZSSL6 message, including Class, ID and checksum 
+      for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
+        if (0 == (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch))) {
+
+          packetUBXRXMQZSSL6message->callbackData[ch].sync1 = UBX_SYNCH_1;
+          packetUBXRXMQZSSL6message->callbackData[ch].sync2 = UBX_SYNCH_2;
+          packetUBXRXMQZSSL6message->callbackData[ch].cls = UBX_CLASS_RXM;
+          packetUBXRXMQZSSL6message->callbackData[ch].ID = UBX_RXM_QZSSL6;
+          packetUBXRXMQZSSL6message->callbackData[ch].lengthLSB = msg->len & 0xFF;
+          packetUBXRXMQZSSL6message->callbackData[ch].lengthMSB = msg->len >> 8;
+
+          memcpy(packetUBXRXMQZSSL6message->callbackData[ch].payload, msg->payload, msg->len);
+
+          packetUBXRXMQZSSL6message->callbackData[ch].checksumA = msg->checksumA;
+          packetUBXRXMQZSSL6message->callbackData[ch].checksumB = msg->checksumB;   
+
+          packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid |= (1 << ch);
+          break; // abort when added
+        }
+      } 
+    }
     else if (msg->id == UBX_RXM_COR)
     {
       // Parse various byte fields into storage - but only if we have memory allocated for it
@@ -5444,6 +5486,19 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
     packetUBXRXMPMPmessage->callbackPointerPtr(packetUBXRXMPMPmessage->callbackData); // Call the callback
     packetUBXRXMPMPmessage->automaticFlags.flags.bits.callbackCopyValid = false;      // Mark the data as stale
   }
+
+  if ((packetUBXRXMQZSSL6message != NULL) &&                    // If RAM has been allocated for message storage
+      (packetUBXRXMQZSSL6message->callbackData != NULL) &&      // If RAM has been allocated for the copy of the data
+      (packetUBXRXMQZSSL6message->callbackPointerPtr != NULL))  // If the pointer to the callback has been defined
+  {
+    for (int ch = 0; ch < UBX_RXM_QZSSL6_NUM_CHANNELS; ch ++) {
+      if (packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid & (1 << ch)) // If the copy of the data is valid
+      {
+        packetUBXRXMQZSSL6message->callbackPointerPtr( &packetUBXRXMQZSSL6message->callbackData[ch] ); // Call the callback
+        packetUBXRXMQZSSL6message->automaticFlags.flags.bits.callbackCopyValid &= ~(1 << ch); // clear it
+      }
+    }
+  }
 
   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
@@ -12561,6 +12616,53 @@ bool SFE_UBLOX_GNSS::initPacketUBXRXMPMPmessage()
   return (true);
 }
 
+// ***** RXM QZSSL6 automatic support
+
+// Callback receives a pointer to the data, instead of _all_ the data. Much kinder on the stack!
+bool SFE_UBLOX_GNSS::setRXMQZSSL6messageCallbackPtr(void (*callbackPointer)(UBX_RXM_QZSSL6_message_data_t *))
+{
+  if (packetUBXRXMQZSSL6message == NULL)
+    initPacketUBXRXMQZSSL6message();     // Check that RAM has been allocated for the data
+  if (packetUBXRXMQZSSL6message == NULL) // Only attempt this if RAM allocation was successful
+    return false;
+
+  if (packetUBXRXMQZSSL6message->callbackData == NULL) // Check if RAM has been allocated for the callback copy
+  {
+    packetUBXRXMQZSSL6message->callbackData = new UBX_RXM_QZSSL6_message_data_t[UBX_RXM_QZSSL6_NUM_CHANNELS]; // Allocate RAM for the main struct
+  }
+
+  if (packetUBXRXMQZSSL6message->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("setAutoRXMQZSSL6messagecallbackPtr: RAM alloc failed!"));
+#endif
+    return (false);
+  }
+
+  packetUBXRXMQZSSL6message->callbackPointerPtr = callbackPointer;
+  return (true);
+}
+
+// PRIVATE: Allocate RAM for packetUBXRXMQZSSL6message and initialize it
+bool SFE_UBLOX_GNSS::initPacketUBXRXMQZSSL6message()
+{
+  packetUBXRXMQZSSL6message = new UBX_RXM_QZSSL6_message_t; // Allocate RAM for the main struct
+  if (packetUBXRXMQZSSL6message == NULL)
+  {
+#ifndef SFE_UBLOX_REDUCED_PROG_MEM
+    if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
+      _debugSerial->println(F("initPacketUBXRXMQZSSL6message: RAM alloc failed!"));
+#endif
+    return (false);
+  }
+  packetUBXRXMQZSSL6message->automaticFlags.flags.all = 0;
+  packetUBXRXMQZSSL6message->callbackPointerPtr = NULL;
+  packetUBXRXMQZSSL6message->callbackData = NULL;
+  return (true);
+}
+
+
 bool SFE_UBLOX_GNSS::setRXMCORcallbackPtr(void (*callbackPointer)(UBX_RXM_COR_data_t *))
 {
   if (packetUBXRXMCOR == NULL)

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -397,6 +397,7 @@ const uint8_t UBX_NAV_AOPSTATUS = 0x60; // AssistNow Autonomous status
 const uint8_t UBX_RXM_COR = 0x34;       // Differential correction input status
 const uint8_t UBX_RXM_MEASX = 0x14;     // Satellite Measurements for RRLP
 const uint8_t UBX_RXM_PMP = 0x72;       // PMP raw data (NEO-D9S) (two different versions) (packet size for version 0x01 is variable)
+const uint8_t UBX_RXM_QZSSL6 = 0x73;    // QZSSL6 data (NEO-D9C)
 const uint8_t UBX_RXM_PMREQ = 0x41;     // Requests a Power Management task (two different packet sizes)
 const uint8_t UBX_RXM_RAWX = 0x15;      // Multi-GNSS Raw Measurement Data
 const uint8_t UBX_RXM_RLM = 0x59;       // Galileo SAR Short-RLM report (two different packet sizes)
@@ -1163,6 +1164,12 @@ class SFE_UBLOX_GNSS
   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
 
+  // Configure a callback for the UBX-RXM-QZSSL6 messages produced by the NEO-D9C
+  // Note: on the NEO-D9C, the UBX-RXM-QZSSL6 messages are enabled by default on all ports.
+  //       You can disable them by calling (e.g.) setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C, 0)
+  //       The NEO-D9C does not support UBX-CFG-MSG
+  bool setRXMQZSSL6messageCallbackPtr(void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *)); // Use this if you want all of the QZSSL6 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
@@ -1518,6 +1525,7 @@ class SFE_UBLOX_GNSS
 
   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_QZSSL6_message_t *packetUBXRXMQZSSL6message = 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
@@ -1617,6 +1625,7 @@ class SFE_UBLOX_GNSS
   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 initPacketUBXRXMQZSSL6message(); // Allocate RAM for packetUBXRXMQZSSL6raw 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

src/u-blox_config_keys.h

@@ -826,6 +826,14 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_UART1 = 0x20910323; // Output rate o
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_UART2 = 0x20910324; // Output rate of the UBX_MON_PMP message on port UART2
 const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_PMP_USB = 0x20910325;   // Output rate of the UBX_MON_PMP message on port USB
 
+// Additional CFG_MSGOUT keys for the NEO-D9S
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_I2C = 0x2091033f;   // Output rate of the UBX_RXM_QZSSL6 message on port I2C
+const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_SPI = 0x2091033e;   // Output rate of the UBX_RXM_QZSSL6 message on port SPI
+const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART1 = 0x2091033b; // Output rate of the UBX_RXM_QZSSL6 message on port UART1
+const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_UART2 = 0x2091033c; // Output rate of the UBX_RXM_QZSSL6 message on port UART2
+const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_USB = 0x2091033d;   // Output rate of the UBX_RXM_QZSSL6 message on port USB
+
 // CFG-NAV2: Secondary output configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = 0x10170001;        // Enable secondary (NAV2) output
@@ -928,6 +936,14 @@ const uint32_t UBLOX_CFG_PMP_DESCRAMBLER_INIT = 0x30b10015;  // Descrambler init
 const uint32_t UBLOX_CFG_PMP_USE_PRESCRAMBLING = 0x10b10019; // Use prescrambling. Enables/disables the prescrambling.
 const uint32_t UBLOX_CFG_PMP_UNIQUE_WORD = 0x50b1001a;       // Unique word. Defines value of unique word.
 
+// CFG-QZSS-L6: QZSS system configuration configuration (NEO-D9C)
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_QZSSL6_SVIDA = 0x20370020;          // QZSS L6 SV Id to be decoded by channel A
+const uint32_t UBLOX_CFG_QZSSL6_SVIDB = 0x20370030;          // QZSS L6 SV Id to be decoded by channel B
+const uint32_t UBLOX_CFG_QZSSL6_MSGA = 0x20370050;           // QZSS L6 messages to be decoded by channel A
+const uint32_t UBLOX_CFG_QZSSL6_MSGB = 0x20370060;           // QZSS L6 messages to be decoded by channel B
+const uint32_t UBLOX_CFG_QZSSL6_RSDECODER = 0x20370080;      // QZSS L6 message Reed-Solomon decoder mode
+
 // CFG-QZSS: QZSS system configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 const uint32_t UBLOX_CFG_QZSS_USE_SLAS_DGNSS = 0x10370005;       // Apply QZSS SLAS DGNSS corrections

src/u-blox_structs.h

@@ -1599,6 +1599,62 @@ typedef struct
   UBX_RXM_PMP_message_data_t *callbackData;
 } UBX_RXM_PMP_message_t;
 
+// UBX-RXM-QZSSL6 (0x02 0x73): QZSS L6 raw data (D9C modules)
+#define UBX_RXM_QZSSL6_NUM_CHANNELS 2
+const uint16_t UBX_RXM_QZSSL6_DATALEN = 250;
+const uint16_t UBX_RXM_QZSSL6_MAX_LEN = UBX_RXM_QZSSL6_DATALEN + 14;
+
+typedef struct
+{
+  uint8_t version;        // Message version (0x00 / 0x01)
+  uint8_t svId;           // Satellite identifier
+  uint16_t cno;           // Mean C/N0
+  uint32_t timeTag;       // Time since startup when frame started : ms
+  uint8_t groupDelay;     // L6 group delay w.r.t. L2 on channel
+  uint8_t bitErrCorr;     // Number of bit errors corrected by Reed-Solomon decoder
+  uint16_t chInfo;        // Information about receiver channel associated with a received QZSS L6 message
+  uint8_t reserved0[2];   // Reserved
+  uint8_t msgBytes[UBX_RXM_QZSSL6_DATALEN];  // Bytes in a QZSS L6 message
+} UBX_RXM_QZSSL6_data_t;
+
+struct ubxQZSSL6AutomaticFlags
+{
+  union
+  {
+    uint8_t all;
+    struct
+    {
+      uint8_t automatic : 1;         // Will this message be delivered and parsed "automatically" (without polling)
+      uint8_t implicitUpdate : 1;    // Is the update triggered by accessing stale data (=true) or by a call to checkUblox (=false)
+      uint8_t addToFileBuffer : 1;   // Should the raw UBX data be added to the file buffer?
+      uint8_t callbackCopyValid : UBX_RXM_QZSSL6_NUM_CHANNELS; // Is the copies of the data structs used by the callback valid/fresh?
+    } bits;
+  } flags;
+};
+
+// Define a struct to hold the entire QZSSL6 message so the whole thing can be pushed to a GNSS.
+// Remember that the length of the payload could be variable (with version 1 messages).
+typedef struct
+{
+  uint8_t sync1; // 0xB5
+  uint8_t sync2; // 0x62
+  uint8_t cls;
+  uint8_t ID;
+  uint8_t lengthLSB;
+  uint8_t lengthMSB;
+  uint8_t payload[UBX_RXM_QZSSL6_MAX_LEN];
+  uint8_t checksumA;
+  uint8_t checksumB;
+} UBX_RXM_QZSSL6_message_data_t;
+
+// The QZSSL6 data can only be accessed via a callback. QZSSL6 cannot be polled.
+typedef struct
+{
+  ubxQZSSL6AutomaticFlags automaticFlags;
+  void (*callbackPointerPtr)(UBX_RXM_QZSSL6_message_data_t *);
+  UBX_RXM_QZSSL6_message_data_t *callbackData;
+} UBX_RXM_QZSSL6_message_t;
+
 // CFG-specific structs
 
 // UBX-CFG-PRT (0x06 0x00): Port configuration