使用NEO-D9S-00B和PIC18F27K40解锁精准导航的世界

/*!
 * @file main.c
 * @brief LBAND RTK Click example
 *
 * # Description
 * This example demonstrates the use of LBAND RTK click by setting the Point to multipoint (PMP)
 * configuration and waiting for the UBX-RXM-PMP message, then parsing it and displaying on the USB UART.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver, reads the module version, sets the Point to multipoint (PMP) configuration
 * (for EU center frequency by default) and then reads that config and displays on the USB UART.
 *
 * ## Application Task
 * Waits for an incoming UBX messages, reads and displays them on the USB UART. If the received message is
 * PMP data it will be parsed additionally.
 *
 * @note 
 * Make sure to use a correct L-Band antenna and that it's placed outside on open-sky in order to be able to
 * receive PMP data from satellites.
 * 
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "lbandrtk.h"

static lbandrtk_t lbandrtk;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    lbandrtk_cfg_t lbandrtk_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    lbandrtk_cfg_setup( &lbandrtk_cfg );
    LBANDRTK_MAP_MIKROBUS( lbandrtk_cfg, MIKROBUS_1 );
    if ( LBANDRTK_OK != lbandrtk_init( &lbandrtk, &lbandrtk_cfg ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    Delay_ms ( 100 );
    
    // Read module version
    lbandrtk.frame.class_id = LBANDRTK_CLASS_ID_UBX_MON;
    lbandrtk.frame.msg_id = LBANDRTK_MSG_ID_UBX_MON_VER;
    lbandrtk.frame.payload_len = 0;
    // send poll request
    lbandrtk_write_ubx_frame ( &lbandrtk, &lbandrtk.frame );
    // read polled message
    if ( LBANDRTK_OK == lbandrtk_read_ubx_frame ( &lbandrtk, &lbandrtk.frame ) )
    {
        log_printf( &logger, " ------ MODULE VERSION ------\r\n" );
        log_printf( &logger, " SW version:\r\n %s\r\n\n", &lbandrtk.frame.payload[ 0 ] );
        log_printf( &logger, " HW version:\r\n %s\r\n\n", &lbandrtk.frame.payload[ 30 ] );
        log_printf( &logger, " Extension:\r\n" );
        for ( uint16_t cnt = 0; cnt < ( ( lbandrtk.frame.payload_len - 40 ) / 30 ); cnt++ )
        {
            log_printf( &logger, " %s\r\n", &lbandrtk.frame.payload[ 40 + cnt * 30 ] );
        }
        log_printf( &logger, " ----------------------------\r\n\n" );
    }
    Delay_ms ( 100 );
    
    if ( LBANDRTK_ERROR == lbandrtk_set_default_pmp_cfg ( &lbandrtk ) )
    {
        log_error( &logger, " Set default PMP configuration." );
        for ( ; ; );
    }
    
    lbandrtk_pmp_cfg_t pmp_cfg;
    if ( LBANDRTK_OK == lbandrtk_get_pmp_cfg ( &lbandrtk, &pmp_cfg ) )
    {
        log_printf( &logger, " ----- PMP CONFIGURATION ----\r\n" );
        log_printf( &logger, " Center frequency: %lu\r\n", pmp_cfg.center_freq );
        log_printf( &logger, " Search window: %u\r\n", pmp_cfg.search_window );
        log_printf( &logger, " Use service ID: %u\r\n", ( uint16_t ) pmp_cfg.use_service_id );
        log_printf( &logger, " Service ID: %u\r\n", pmp_cfg.service_id );
        log_printf( &logger, " Data rate: %u\r\n", pmp_cfg.data_rate );
        log_printf( &logger, " Use descrambler: %u\r\n", ( uint16_t ) pmp_cfg.use_descrambler );
        log_printf( &logger, " Descrambler init: %u\r\n", pmp_cfg.descrambler_init );
        log_printf( &logger, " Use prescrambling: %lu\r\n", ( uint16_t ) pmp_cfg.use_prescrambling );
        log_printf( &logger, " Unique word: 0x%.8LX%.8LX\r\n", pmp_cfg.unique_word_high, pmp_cfg.unique_word_low );
        log_printf( &logger, " ----------------------------\r\n\n" );
    }

    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    if ( LBANDRTK_OK == lbandrtk_read_ubx_frame ( &lbandrtk, &lbandrtk.frame ) )
    {
        if ( ( LBANDRTK_CLASS_ID_UBX_RXM == lbandrtk.frame.class_id ) && ( LBANDRTK_MSG_ID_UBX_RXM_PMP == lbandrtk.frame.msg_id ) )
        {
            log_printf( &logger, " -------- UBX-RXM-PMP -------\r\n" );
            uint16_t num_bytes_user_data = LBANDRTK_UBX_RXM_PMP_MAX_USER_DATA; // Number of bytes for user data for message version 0
            log_printf( &logger, " Version: %u\r\n", ( uint16_t ) lbandrtk.frame.payload[ 0 ] );
            log_printf( &logger, " Time tag [ms]: %lu\r\n", 
                        ( ( uint32_t ) lbandrtk.frame.payload[ 7 ] << 24 ) | ( ( uint32_t ) lbandrtk.frame.payload[ 6 ] << 16 ) | 
                        ( ( uint16_t ) lbandrtk.frame.payload[ 5 ] << 8 ) | lbandrtk.frame.payload[ 4 ] );
            log_printf( &logger, " Unique word: 0x%.8LX%.8LX\r\n", 
                        ( ( uint32_t ) lbandrtk.frame.payload[ 15 ] << 24 ) | ( ( uint32_t ) lbandrtk.frame.payload[ 14 ] << 16 ) | 
                        ( ( uint16_t ) lbandrtk.frame.payload[ 13 ] << 8 ) | lbandrtk.frame.payload[ 12 ], 
                        ( ( uint32_t ) lbandrtk.frame.payload[ 11 ] << 24 ) | ( ( uint32_t ) lbandrtk.frame.payload[ 10 ] << 16 ) | 
                        ( ( uint16_t ) lbandrtk.frame.payload[ 9 ] << 8 ) | lbandrtk.frame.payload[ 8 ] );
            log_printf( &logger, " Unique word bit errors: %u\r\n", ( uint16_t ) lbandrtk.frame.payload[ 19 ] );
            // Check the received message version
            if ( lbandrtk.frame.payload[ 0 ] )
            {
                log_printf( &logger, " FEC bits : %u\r\n", ( ( uint16_t ) lbandrtk.frame.payload[ 21 ] << 8 ) | lbandrtk.frame.payload[ 20 ] );
                log_printf( &logger, " Eb/N0 [dB] : %.3f\r\n", lbandrtk.frame.payload[ 22 ] * LBANDRTK_UBX_RXM_PMP_EBN0_SCALE );
            }
            else
            {
                log_printf( &logger, " FEC bits : %u\r\n", ( ( uint16_t ) lbandrtk.frame.payload[ 525 ] << 8 ) | lbandrtk.frame.payload[ 524 ] );
                log_printf( &logger, " Eb/N0 [dB] : %.3f\r\n", lbandrtk.frame.payload[ 526 ] * LBANDRTK_UBX_RXM_PMP_EBN0_SCALE );
            }
            log_printf( &logger, "\r\n Service ID : %u\r\n", ( ( uint16_t ) lbandrtk.frame.payload[ 17 ] << 8 ) | lbandrtk.frame.payload[ 16 ] );
            log_printf( &logger, " Spare byte: %u\r\n", ( uint16_t ) lbandrtk.frame.payload[ 18 ] );
            // Check the received message version
            if ( lbandrtk.frame.payload[ 0 ] )
            {
                // Get number of bytes for user data for message version 1
                num_bytes_user_data = ( ( uint16_t ) lbandrtk.frame.payload[ 3 ] << 8 ) | lbandrtk.frame.payload[ 2 ];
                if ( num_bytes_user_data > LBANDRTK_UBX_RXM_PMP_MAX_USER_DATA )
                {
                    num_bytes_user_data = LBANDRTK_UBX_RXM_PMP_MAX_USER_DATA;
                }
                log_printf( &logger, " User data bytes: %u\r\n", num_bytes_user_data );
                log_printf( &logger, " User data:\r\n" );
                for ( uint16_t cnt = 0; cnt < num_bytes_user_data; cnt++ )
                {
                    if ( 0 == ( cnt % 20 ) )
                    {
                        log_printf( &logger, "\r\n" );
                    }
                    log_printf( &logger, "%.2X ", ( uint16_t ) lbandrtk.frame.payload[ 24 + cnt ] );
                }
            }
            else
            {
                log_printf( &logger, " User data bytes: %u\r\n", num_bytes_user_data );
                log_printf( &logger, " User data:\r\n" );
                for ( uint16_t cnt = 0; cnt < num_bytes_user_data; cnt++ )
                {
                    if ( 0 == ( cnt % 20 ) )
                    {
                        log_printf( &logger, "\r\n" );
                    }
                    log_printf( &logger, " %.2X", ( uint16_t ) lbandrtk.frame.payload[ 20 + cnt ] );
                }
            }
            log_printf( &logger, "\r\n ----------------------------\r\n\n" );
            Delay_ms ( 100 );
        }
        else
        {
            log_printf( &logger, " ---- UBX FRAME RECEIVED ----\r\n" );
            log_printf( &logger, " Class ID: 0x%.2X\r\n", ( uint16_t ) lbandrtk.frame.class_id );
            log_printf( &logger, " Message ID: 0x%.2X\r\n", ( uint16_t ) lbandrtk.frame.msg_id );
            log_printf( &logger, " Payload length: %u\r\n", lbandrtk.frame.payload_len );
            log_printf( &logger, " Payload:" );
            for ( uint16_t cnt = 0; cnt < lbandrtk.frame.payload_len; cnt++ )
            {
                if ( 0 == ( cnt % 20 ) )
                {
                    log_printf( &logger, "\r\n" );
                }
                log_printf( &logger, " %.2X", ( uint16_t ) lbandrtk.frame.payload[ cnt ] );
            }
            log_printf( &logger, "\r\n ----------------------------\r\n\n" );
            Delay_ms ( 100 );
        }
    }
}

void main ( void )
{
    application_init( );

    for ( ; ; )
    {
        application_task( );
    }
}

// ------------------------------------------------------------------------ END