Add more SPARTN and PMP to Serial examples

Author: PaulZC

examples/NEO-D9S_and_NEO-D9C/Example10_LBand_PMP_over_Serial/Example10_LBand_PMP_over_Serial.ino

@@ -0,0 +1,126 @@
+/*
+  Use the NEO-D9S L-Band receiver to provide corrections as PMP over Serial
+  By: SparkFun Electronics / Paul Clark
+  Based on original code by: u-blox AG / Michael Ammann
+  v3 updates: Decembe 22nd, 2022
+  License: MIT. See license file for more information.
+
+  This example shows how to obtain PMP correction data from a NEO-D9S L-Band receiver and push it over Serial (UART).
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/16481
+  NEO-D9S:      https://www.sparkfun.com/products/19390
+  Combo Board:  https://www.sparkfun.com/products/20167
+
+  Hardware Connections:
+  Use a Qwiic cable to connect the NEO-D9S to your board
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <driver/uart.h>      //Required for uart_set_rx_full_threshold() on cores <v2.0.5
+HardwareSerial serialGNSS(2); // TX on 17, RX on 16
+
+#include <SparkFun_u-blox_GNSS_v3.h> //http://librarymanager/All#SparkFun_u-blox_GNSS_v3
+SFE_UBLOX_GNSS myLBand; // NEO-D9S
+
+//const uint32_t myLBandFreq = 1556290000; // Uncomment this line to use the US SPARTN 1.8 service
+const uint32_t myLBandFreq = 1545260000; // Uncomment this line to use the EU SPARTN 1.8 service
+
+#define OK(ok) (ok ? F("  ->  OK") : F("  ->  ERROR!")) // Convert uint8_t into OK/ERROR
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+// Callback: pushRXMPMP will be called when new PMP data arrives
+// See u-blox_structs.h for the full definition of UBX_RXM_PMP_message_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setRXMPMPmessageCallbackPtr
+//        /               _____  This _must_ be UBX_RXM_PMP_message_data_t
+//        |              /              _____ You can use any name you like for the struct
+//        |              |             /
+//        |              |             |
+void pushRXMPMP(UBX_RXM_PMP_message_data_t *pmpData)
+{
+  //Extract the raw message payload length
+  uint16_t payloadLen = ((uint16_t)pmpData->lengthMSB << 8) | (uint16_t)pmpData->lengthLSB;
+
+  uint16_t numBytesUserData = pmpData->payload[2] | ((uint16_t)pmpData->payload[3] << 8);
+  uint16_t fecBits = pmpData->payload[20] | ((uint16_t)pmpData->payload[21] << 8);
+  float ebno = (float)pmpData->payload[22] / 8;
+  
+  Serial.print(F("New RXM-PMP data received. userData: "));
+  Serial.print(numBytesUserData);
+  Serial.print(F(" Bytes. fecBits: "));
+  Serial.print(fecBits);
+  Serial.print(F(". ebno (dB): "));
+  Serial.print(ebno);
+  Serial.println(F("."));
+
+  Serial.println(F("Pushing PMP to Serial..."));
+
+  serialGNSS.write(&pmpData->payload[24], (size_t)numBytesUserData); // Push only the raw PMP userData
+  (void)payloadLen;
+      
+  //serialGNSS.write(&pmpData->sync1, (size_t)payloadLen + 6); // Push the sync chars, class, ID, length and payload
+  //serialGNSS.write(&pmpData->checksumA, (size_t)2); // Push the checksum bytes
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void setup()
+{
+  delay(1000);
+  
+  Serial.begin(115200);
+  Serial.println(F("NEO-D9S SPARTN Corrections"));
+
+  serialGNSS.begin(38400); // UART2 on pins 16/17.
+                                           
+  Wire.begin(); //Start I2C
+
+  //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+  // Begin and configure the NEO-D9S L-Band receiver
+
+  //myLBand.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
+  while (myLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
+  {
+    Serial.println(F("u-blox NEO-D9S not detected at default I2C address. Please check wiring."));
+    delay(2000);
+  }
+  Serial.println(F("u-blox NEO-D9S connected"));
+
+  myLBand.newCfgValset(); // Create a new Configuration Interface message - this defaults to VAL_LAYER_RAM_BBR (change in RAM and BBR)
+  myLBand.addCfgValset(UBLOX_CFG_PMP_CENTER_FREQUENCY,     myLBandFreq); // Default 1539812500 Hz
+  myLBand.addCfgValset(UBLOX_CFG_PMP_SEARCH_WINDOW,        2200);        // Default 2200 Hz
+  myLBand.addCfgValset(UBLOX_CFG_PMP_USE_SERVICE_ID,       0);           // Default 1 
+  myLBand.addCfgValset(UBLOX_CFG_PMP_SERVICE_ID,           21845);       // Default 50821
+  myLBand.addCfgValset(UBLOX_CFG_PMP_DATA_RATE,            2400);        // Default 2400 bps
+  myLBand.addCfgValset(UBLOX_CFG_PMP_USE_DESCRAMBLER,      1);           // Default 1
+  myLBand.addCfgValset(UBLOX_CFG_PMP_DESCRAMBLER_INIT,     26969);       // Default 23560
+  myLBand.addCfgValset(UBLOX_CFG_PMP_USE_PRESCRAMBLING,    0);           // Default 0
+  myLBand.addCfgValset(UBLOX_CFG_PMP_UNIQUE_WORD,          16238547128276412563ull); 
+  myLBand.addCfgValset(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C,   1);           // Ensure UBX-RXM-PMP is enabled on the I2C port 
+  myLBand.addCfgValset(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART1, 1);           // Output UBX-RXM-PMP on UART1
+  myLBand.addCfgValset(UBLOX_CFG_UART2OUTPROT_UBX,         1);           // Enable UBX output on UART2
+  myLBand.addCfgValset(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART2, 1);           // Output UBX-RXM-PMP on UART2
+  myLBand.addCfgValset(UBLOX_CFG_UART1_BAUDRATE,           38400);       // match baudrate with ZED default
+  myLBand.addCfgValset(UBLOX_CFG_UART2_BAUDRATE,           38400);       // match baudrate with ZED default
+  bool ok = myLBand.sendCfgValset(); // Apply the settings
+  
+  Serial.print(F("L-Band: configuration "));
+  Serial.println(OK(ok));
+
+  myLBand.softwareResetGNSSOnly(); // Do a restart
+
+  myLBand.setRXMPMPmessageCallbackPtr(&pushRXMPMP); // Call pushRXMPMP when new PMP data arrives. Push it to the GNSS
+
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void loop()
+{
+  myLBand.checkUblox(); // Check for the arrival of new PMP data and process it.
+  myLBand.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed.
+}