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| 1 | +/* |
| 2 | + Configuring the GNSS to automatically send SEC SIG reports over I2C and display them using a callback |
| 3 | + By: Paul Clark |
| 4 | + SparkFun Electronics |
| 5 | + Date: April 3rd, 2025 |
| 6 | + License: MIT. See license file for more information. |
| 7 | +
|
| 8 | + This example shows how to configure the u-blox GNSS to send SEC SIG reports automatically |
| 9 | + and access the data via a callback. No more polling! |
| 10 | +
|
| 11 | + Feel like supporting open source hardware? |
| 12 | + Buy a board from SparkFun! |
| 13 | + ZED-F9P RTK2: https://www.sparkfun.com/products/15136 |
| 14 | +
|
| 15 | + Hardware Connections: |
| 16 | + Plug a Qwiic cable into the GPS and a BlackBoard |
| 17 | + If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425) |
| 18 | + Open the serial monitor at 115200 baud to see the output |
| 19 | +*/ |
| 20 | + |
| 21 | +#include <Wire.h> //Needed for I2C to GPS |
| 22 | + |
| 23 | +#include <SparkFun_u-blox_GNSS_v3.h> //http://librarymanager/All#SparkFun_u-blox_GNSS_v3 |
| 24 | +SFE_UBLOX_GNSS myGNSS; |
| 25 | + |
| 26 | +// Callback: newSECSIG will be called when new SEC SIG data arrives |
| 27 | +// See u-blox_structs.h for the full definition of UBX_SEC_SIG_data_t |
| 28 | +// _____ You can use any name you like for the callback. Use the same name when you call setAutoSECSIGcallback |
| 29 | +// / _____ This _must_ be UBX_SEC_SIG_data_t |
| 30 | +// | / _____ You can use any name you like for the struct |
| 31 | +// | | / |
| 32 | +// | | | |
| 33 | +void newSECSIG(UBX_SEC_SIG_data_t *ubxDataStruct) |
| 34 | +{ |
| 35 | + Serial.println(); |
| 36 | + |
| 37 | + Serial.print(F("New SEC SIG data received. It contains version ")); |
| 38 | + Serial.print(ubxDataStruct->version); |
| 39 | + Serial.println(F(" data.")); |
| 40 | + |
| 41 | + if (ubxDataStruct->version == 1) |
| 42 | + { |
| 43 | + Serial.print(F("Jamming detection is ")); |
| 44 | + bool jamDetEnabled = (bool)ubxDataStruct->versions.version1.jamFlags.bits.jamDetEnabled; |
| 45 | + Serial.println(jamDetEnabled ? "enabled" : "disabled"); |
| 46 | + if (jamDetEnabled) |
| 47 | + { |
| 48 | + Serial.print(F("Jamming state: ")); |
| 49 | + switch (ubxDataStruct->versions.version1.jamFlags.bits.jammingState) |
| 50 | + { |
| 51 | + case 1: |
| 52 | + Serial.println(F("no jamming indicated")); |
| 53 | + break; |
| 54 | + case 2: |
| 55 | + Serial.println(F("warning (jamming indicated but fix OK)")); |
| 56 | + break; |
| 57 | + case 3: |
| 58 | + Serial.println(F("critical (jamming indicated and no fix)")); |
| 59 | + break; |
| 60 | + case 0: |
| 61 | + default: |
| 62 | + Serial.println(F("unknown")); |
| 63 | + break; |
| 64 | + } |
| 65 | + } |
| 66 | + Serial.print(F("Spoofing detection is ")); |
| 67 | + bool spfDetEnabled = (bool)ubxDataStruct->versions.version1.spfFlags.bits.spfDetEnabled; |
| 68 | + Serial.println(spfDetEnabled ? "enabled" : "disabled"); |
| 69 | + if (spfDetEnabled) |
| 70 | + { |
| 71 | + Serial.print(F("Spoofing state: ")); |
| 72 | + switch (ubxDataStruct->versions.version1.spfFlags.bits.spoofingState) |
| 73 | + { |
| 74 | + case 1: |
| 75 | + Serial.println(F("no spoofing indicated")); |
| 76 | + break; |
| 77 | + case 2: |
| 78 | + Serial.println(F("spoofing indicated")); |
| 79 | + break; |
| 80 | + case 3: |
| 81 | + Serial.println(F("spoofing affirmed")); |
| 82 | + break; |
| 83 | + case 0: |
| 84 | + default: |
| 85 | + Serial.println(F("unknown")); |
| 86 | + break; |
| 87 | + } |
| 88 | + } |
| 89 | + } |
| 90 | + |
| 91 | + else if (ubxDataStruct->version == 2) |
| 92 | + { |
| 93 | + Serial.print(F("Jamming detection is ")); |
| 94 | + bool jamDetEnabled = (bool)ubxDataStruct->versions.version2.sigSecFlags.bits.jamDetEnabled; |
| 95 | + Serial.println(jamDetEnabled ? "enabled" : "disabled"); |
| 96 | + if (jamDetEnabled) |
| 97 | + { |
| 98 | + Serial.print(F("Jamming state: ")); |
| 99 | + switch (ubxDataStruct->versions.version2.sigSecFlags.bits.jamState) |
| 100 | + { |
| 101 | + case 1: |
| 102 | + Serial.println(F("no jamming indicated")); |
| 103 | + break; |
| 104 | + case 2: |
| 105 | + Serial.println(F("warning (jamming indicated)")); |
| 106 | + break; |
| 107 | + case 0: |
| 108 | + default: |
| 109 | + Serial.println(F("unknown")); |
| 110 | + break; |
| 111 | + } |
| 112 | + } |
| 113 | + Serial.print(F("Spoofing detection is ")); |
| 114 | + bool spfDetEnabled = (bool)ubxDataStruct->versions.version2.sigSecFlags.bits.spfDetEnabled; |
| 115 | + Serial.println(spfDetEnabled ? "enabled" : "disabled"); |
| 116 | + if (spfDetEnabled) |
| 117 | + { |
| 118 | + Serial.print(F("Spoofing state: ")); |
| 119 | + switch (ubxDataStruct->versions.version2.sigSecFlags.bits.spfState) |
| 120 | + { |
| 121 | + case 1: |
| 122 | + Serial.println(F("no spoofing indicated")); |
| 123 | + break; |
| 124 | + case 2: |
| 125 | + Serial.println(F("spoofing indicated")); |
| 126 | + break; |
| 127 | + case 3: |
| 128 | + Serial.println(F("spoofing affirmed")); |
| 129 | + break; |
| 130 | + case 0: |
| 131 | + default: |
| 132 | + Serial.println(F("unknown")); |
| 133 | + break; |
| 134 | + } |
| 135 | + } |
| 136 | + Serial.print(F("Number of jamming center frequencies: ")); |
| 137 | + uint8_t jamNumCentFreqs = ubxDataStruct->versions.version2.jamNumCentFreqs; |
| 138 | + Serial.println(jamNumCentFreqs); |
| 139 | + if (jamNumCentFreqs > 0) |
| 140 | + { |
| 141 | + for (uint8_t i = 0; i < jamNumCentFreqs; i++) |
| 142 | + { |
| 143 | + Serial.print(F("Center frequency: ")); |
| 144 | + Serial.print(ubxDataStruct->versions.version2.jamStateCentFreq[i].bits.centFreq); |
| 145 | + Serial.print(F(" kHz ")); |
| 146 | + if (ubxDataStruct->versions.version2.jamStateCentFreq[i].bits.jammed) |
| 147 | + Serial.print("- jammed"); |
| 148 | + Serial.println(); |
| 149 | + } |
| 150 | + } |
| 151 | + } |
| 152 | +} |
| 153 | + |
| 154 | +void setup() |
| 155 | +{ |
| 156 | + Serial.begin(115200); |
| 157 | + while (!Serial); //Wait for user to open terminal |
| 158 | + Serial.println("SparkFun u-blox Example"); |
| 159 | + |
| 160 | + Wire.begin(); |
| 161 | + |
| 162 | + //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial |
| 163 | + //myGNSS.enableDebugging(Serial, true); // Uncomment this line to enable only the major debug messages on Serial |
| 164 | + |
| 165 | + while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port |
| 166 | + { |
| 167 | + Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring.")); |
| 168 | + } |
| 169 | + |
| 170 | + myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only. Stop the NMEA messages |
| 171 | + myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR |
| 172 | + |
| 173 | + // Just to prove we can, poll the SEC SIG data manually |
| 174 | + Serial.println("Polling SEC SIG data:"); |
| 175 | + UBX_SEC_SIG_data_t secSig; |
| 176 | + if (myGNSS.getSECSIG(&secSig)) |
| 177 | + newSECSIG(&secSig); // Call the callback manually to print the data |
| 178 | + else |
| 179 | + Serial.println("getSECSIG failed!"); |
| 180 | + |
| 181 | + // Now enable automatic (periodic) SEC SIG messages with callback to newSECSIG |
| 182 | + myGNSS.setAutoSECSIGcallbackPtr(&newSECSIG); |
| 183 | +} |
| 184 | + |
| 185 | +void loop() |
| 186 | +{ |
| 187 | + myGNSS.checkUblox(); // Check for the arrival of new data and process it. |
| 188 | + myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed. |
| 189 | + |
| 190 | + Serial.print("."); |
| 191 | + delay(50); |
| 192 | +} |
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