Merge pull request #61 from sparkfun/release_candidate

v3.1.6 : add keys and flags for HPG 1.50

keys/u-blox-F9-HPG-1.32_InterfaceDescription_UBX-22008968_keys_sorted.txt → keys/u-blox-F9-HPG-1.50_InterfaceDescription_UBXDOC-963802114-12815_keys_sorted.txt

@@ -7,8 +7,10 @@
 0x10110025
 0x10110061
 0x101100d7
+0x101100dd
 0x10170001
 0x10170002
+0x10170003
 0x10220001
 0x10220002
 0x10220003
@@ -37,15 +39,16 @@
 0x10310024
 0x10310025
 0x10340014
+0x10350005
+0x10350009
 0x10360002
 0x10360003
 0x10360004
 0x10360005
+0x10360007
 0x10370005
 0x10370006
 0x10370007
-0x1041000d
-0x10410013
 0x10510002
 0x10510003
 0x10520005
@@ -120,9 +123,10 @@
 0x10c70001
 0x10c70002
 0x10de0002
-0x10de0003
 0x10de0004
 0x10f60009
+0x10f60051
+0x10f6005d
 0x20030001
 0x20030002
 0x20030006
@@ -157,9 +161,7 @@
 0x20240013
 0x20240014
 0x20250038
-0x20410001
-0x20410002
-0x20410010
+0x20350007
 0x20510001
 0x20520002
 0x20520003
@@ -548,6 +550,11 @@
 0x2091038d
 0x2091038e
 0x2091038f
+0x209103a8
+0x209103a9
+0x209103aa
+0x209103ab
+0x209103ac
 0x20910400
 0x20910401
 0x20910402
@@ -678,6 +685,11 @@
 0x20910607
 0x20910608
 0x20910609
+0x20910634
+0x20910635
+0x20910636
+0x20910637
+0x20910638
 0x20910652
 0x20910653
 0x20910654
@@ -713,6 +725,11 @@
 0x20910681
 0x20910682
 0x20910683
+0x20910689
+0x2091068a
+0x2091068b
+0x2091068c
+0x2091068d
 0x2091069d
 0x2091069e
 0x2091069f
@@ -723,6 +740,11 @@
 0x209106b8
 0x209106b9
 0x209106ba
+0x209106ca
+0x209106cb
+0x209106cc
+0x209106cd
+0x209106ce
 0x20920001
 0x20920002
 0x20920003
@@ -757,15 +779,18 @@
 0x301100b3
 0x301100b4
 0x301100b5
+0x301100de
 0x30210001
 0x30210002
 0x3025003b
+0x30360008
 0x30370008
 0x3065000a
 0x3065000b
 0x3065000c
 0x30930033
 0x30a20004
+0x30a3003c
 0x30de0005
 0x30de0006
 0x30de0007

keys/u-blox_config_keys_sorted.txt

@@ -26,8 +26,10 @@
 0x10110025
 0x10110061
 0x101100d7
+0x101100dd
 0x10170001
 0x10170002
+0x10170003
 0x10220001
 0x10220002
 0x10220003
@@ -64,6 +66,8 @@
 0x10310026
 0x10310028
 0x10340014
+0x10350005
+0x10350009
 0x10360002
 0x10360003
 0x10360004
@@ -168,6 +172,7 @@
 0x10de0004
 0x10f60009
 0x10f60051
+0x10f6005d
 0x20030001
 0x20030002
 0x20030006
@@ -213,6 +218,7 @@
 0x20240013
 0x20240014
 0x20250038
+0x20350007
 0x20370020
 0x20370030
 0x20370050
@@ -682,6 +688,11 @@
 0x2091038d
 0x2091038e
 0x2091038f
+0x209103a8
+0x209103a9
+0x209103aa
+0x209103ab
+0x209103ac
 0x20910400
 0x20910401
 0x20910402
@@ -902,6 +913,11 @@
 0x209106b8
 0x209106b9
 0x209106ba
+0x209106ca
+0x209106cb
+0x209106cc
+0x209106cd
+0x209106ce
 0x20920001
 0x20920002
 0x20920003
@@ -950,6 +966,7 @@
 0x301100b3
 0x301100b4
 0x301100b5
+0x301100de
 0x30210001
 0x30210002
 0x30230002

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS v3
-version=3.1.5
+version=3.1.6
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/u-blox_GNSS.cpp

@@ -3474,7 +3474,7 @@ void DevUBLOXGNSS::processUBXpacket(ubxPacket *msg)
         packetUBXNAVPVT->data.sAcc = extractLong(msg, 68);
         packetUBXNAVPVT->data.headAcc = extractLong(msg, 72);
         packetUBXNAVPVT->data.pDOP = extractInt(msg, 76);
-        packetUBXNAVPVT->data.flags3.all = extractByte(msg, 78);
+        packetUBXNAVPVT->data.flags3.all = extractInt(msg, 78);
         packetUBXNAVPVT->data.headVeh = extractSignedLong(msg, 84);
         packetUBXNAVPVT->data.magDec = extractSignedInt(msg, 88);
         packetUBXNAVPVT->data.magAcc = extractInt(msg, 90);

src/u-blox_config_keys.h

@@ -132,6 +132,12 @@ const uint32_t UBLOX_CFG_BDS_USE_PRN_1_TO_5 = UBX_CFG_L | 0x10340014; // Use Bei
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 const uint32_t UBLOX_CFG_CLOCK_OSC_FREQ = UBX_CFG_U4 | 0x40a4000d; // Oscillator speed
 
+// CFG-GAL: Galileo system configuration
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const uint32_t UBLOX_CFG_GAL_USE_OSNMA = UBX_CFG_L | 0x10350005;           // Enable using Galileo Open Service Navigation Message Authentication (OSNMA) protocol
+const uint32_t UBLOX_CFG_GAL_OSNMA_MINTAGLENGTH = UBX_CFG_U1 | 0x20350007; // Minimum equivalent tag length
+const uint32_t UBLOX_CFG_GAL_OSNMA_TIMESYNC = UBX_CFG_L | 0x10350009;      // Apply the time synchronization requirement
+
 // CFG-GEOFENCE: Geofencing configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 const uint32_t UBLOX_CFG_GEOFENCE_CONFLVL = UBX_CFG_E1 | 0x20240011;    // Required confidence level for state evaluation
@@ -588,6 +594,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_SPI = UBX_CFG_U1 | 0x2091038a;
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART1 = UBX_CFG_U1 | 0x20910387;   // Output rate of the UBX-NAV-TIMEQZSSmessage on port UART1
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART2 = UBX_CFG_U1 | 0x20910388;   // Output rate of the UBX-NAV-TIMEQZSSmessage on port UART2
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_USB = UBX_CFG_U1 | 0x20910389;     // Output rate of the UBX-NAV-TIMEQZSSmessage on port USB
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMETRUSTED_I2C = UBX_CFG_U1 | 0x209103a8;  // Output rate of the UBX-NAV-TIMETRUSTED message on port I2C
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMETRUSTED_SPI = UBX_CFG_U1 | 0x209103ac;  // Output rate of the UBX-NAV-TIMETRUSTED message on port SPI
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMETRUSTED_UART1 = UBX_CFG_U1 | 0x209103a9; // Output rate of the UBX-NAV-TIMETRUSTED message on port UART1
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMETRUSTED_UART2 = UBX_CFG_U1 | 0x209103aa; // Output rate of the UBX-NAV-TIMETRUSTED message on port UART2
+const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMETRUSTED_USB = UBX_CFG_U1 | 0x209103ab;  // Output rate of the UBX-NAV-TIMETRUSTED message on port USB
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_I2C = UBX_CFG_U1 | 0x2091005b;      // Output rate of the UBX-NAV-TIMEUTC message on port I2C
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_SPI = UBX_CFG_U1 | 0x2091005f;      // Output rate of the UBX-NAV-TIMEUTC message on port SPI
 const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1 = UBX_CFG_U1 | 0x2091005c;    // Output rate of the UBX-NAV-TIMEUTC message on port UART1
@@ -643,6 +654,11 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_SPI = UBX_CFG_U1 | 0x20910638;
 const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART1 = UBX_CFG_U1 | 0x20910635;        // Output rate of the UBX-SEC-SIG message on port UART1
 const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART2 = UBX_CFG_U1 | 0x20910636;        // Output rate of the UBX-SEC-SIG message on port UART2
 const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_USB = UBX_CFG_U1 | 0x20910637;          // Output rate of the UBX-SEC-SIG message on port USB
+const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_OSNMA_I2C = UBX_CFG_U1 | 0x209106ca;        // Output rate of the UBX-SEC-OSNMA message on port I2C
+const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_OSNMA_SPI = UBX_CFG_U1 | 0x209106ce;        // Output rate of the UBX-SEC-OSNMA message on port SPI
+const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_OSNMA_UART1 = UBX_CFG_U1 | 0x209106cb;      // Output rate of the UBX-SEC-OSNMA message on port UART1
+const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_OSNMA_UART2 = UBX_CFG_U1 | 0x209106cc;      // Output rate of the UBX-SEC-OSNMA message on port UART2
+const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_OSNMA_USB = UBX_CFG_U1 | 0x209106cd;        // Output rate of the UBX-SEC-OSNMA message on port USB
 const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_I2C = UBX_CFG_U1 | 0x20910178;          // Output rate of the UBX-TIM-TM2 message on port I2C
 const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_SPI = UBX_CFG_U1 | 0x2091017c;          // Output rate of the UBX-TIM-TM2 message on port SPI
 const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART1 = UBX_CFG_U1 | 0x20910179;        // Output rate of the UBX-TIM-TM2 message on port UART1
@@ -934,8 +950,9 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_QZSSL6_USB = UBX_CFG_U1 | 0x2091033d;
 
 // CFG-NAV2: Secondary output configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = UBX_CFG_L | 0x10170001;        // Enable secondary (NAV2) output
-const uint32_t UBLOX_CFG_NAV2_SBAS_USE_INTEGRITY = UBX_CFG_L | 0x10170002; // Use SBAS integrity information in the secondary output
+const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = UBX_CFG_L | 0x10170001;          // Enable secondary (NAV2) output
+const uint32_t UBLOX_CFG_NAV2_SBAS_USE_INTEGRITY = UBX_CFG_L | 0x10170002;   // Use SBAS integrity information in the secondary output
+const uint32_t UBLOX_CFG_NAV2_NAVSPG_ONLY_AUTHDATA = UBX_CFG_L | 0x10170003; // Enable using only signals with authenticated navigation data
 
 // CFG-NAVHPG: High precision navigation configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1005,6 +1022,8 @@ const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALTVAR = UBX_CFG_U4 | 0x401100c2;  // Fix
 const uint32_t UBLOX_CFG_NAVSPG_CONSTR_DGNSSTO = UBX_CFG_U1 | 0x201100c4; // DGNSS timeout
 const uint32_t UBLOX_CFG_NAVSPG_SIGATTCOMP = UBX_CFG_E1 | 0x201100d6;     // Permanently attenuated signal compensation mode
 const uint32_t UBLOX_CFG_NAVSPG_PL_ENA = UBX_CFG_L | 0x101100d7;          // Enable Protection level. If enabled, protection level computing will be on.
+const uint32_t UBLOX_CFG_NAVSPG_ONLY_AUTHDATA = UBX_CFG_L | 0x101100dd;   // Enable using only signals with authenticated navigation data
+const uint32_t UBLOX_CFG_NAVSPG_MAX_TIMETRUSTED_ACC = UBX_CFG_U2 | 0x301100de; // Maximum trusted time accuracy
 
 // CFG-NMEA: NMEA protocol configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1128,6 +1147,7 @@ const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = UBX_CFG_X8 | 0x50360006;           /
 const uint32_t UBLOX_CFG_SEC_CFG_LOCK = UBX_CFG_L | 0x10f60009;              // Configuration lockdown
 const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP1 = UBX_CFG_U2 | 0x30f6000a;  // Configuration lockdown exempted group 1
 const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP2 = UBX_CFG_U2 | 0x30f6000b;  // Configuration lockdown exempted group 2
+const uint32_t UBLOX_CFG_SEC_SPOOFDET_SIM_SIG_DIS = UBX_CFG_L | 0x10f6005d;  // Disabling the simulated signal spoofing detection
 const uint32_t UBLOX_CFG_SEC_JAMDET_SENSITIVITY_HI = UBX_CFG_L | 0x10f60051; // go for a more sensitive jamming detection
 
 // CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R)

src/u-blox_structs.h

@@ -428,11 +428,11 @@ typedef struct
   uint16_t pDOP;    // Position DOP * 0.01
   union
   {
-    uint8_t all;
+    uint16_t all;
     struct
     {
-      uint8_t invalidLlh : 1;        // 1 = Invalid lon, lat, height and hMSL
-      uint8_t lastCorrectionAge : 4; // Age of the most recently received differential correction:
+      uint16_t invalidLlh : 1;        // 1 = Invalid lon, lat, height and hMSL
+      uint16_t lastCorrectionAge : 4; // Age of the most recently received differential correction:
                                      // 0: Not available
                                      // 1: Age between 0 and 1 second
                                      // 2: Age between 1 (inclusive) and 2 seconds
@@ -446,9 +446,16 @@ typedef struct
                                      // 10: Age between 60 (inclusive) and 90 seconds
                                      // 11: Age between 90 (inclusive) and 120 seconds
                                      // >=12: Age greater or equal than 120 seconds
+      uint16_t reserved : 8;
+      uint16_t authTime : 1;     // Flag that indicates if the output time has been validated
+                                 // against an external trusted time source
+      uint16_t nmaFixStatus : 1; // Flag assigned to a fix that has been computed
+                                 // mixing satellites with data authenticated through
+                                 // Navigation Message Authentication (NMA) methods
+                                 // and satellites using unauthenticated data.
     } bits;
   } flags3;
-  uint8_t reserved1[5];
+  uint8_t reserved0[4];
   int32_t headVeh; // Heading of vehicle (2-D): deg * 1e-5
   int16_t magDec;  // Magnetic declination: deg * 1e-2
   uint16_t magAcc; // Magnetic declination accuracy: deg * 1e-2
@@ -513,6 +520,9 @@ typedef struct
       uint32_t pDOP : 1;
 
       uint32_t invalidLlh : 1;
+      uint32_t lastCorrectionAge : 1;
+      uint32_t authTime : 1;
+      uint32_t nmaFixStatus : 1;
 
       uint32_t headVeh : 1;
       uint32_t magDec : 1;