01_hpg_gnss_config

ZED-F9R GNSS & NEO-D9S LBAND module configuration

Description

The example provided demonstrates how to configure a GNSS or LBAND module.
All needed functions to configure and initialize location modules are shown.
It is recommended to the user to read the manuals of the modules which provide useful information for their setup and use.
The manuals, along with other resources, can be found here:

• ZED-F9R
• NEO-D9S

When running the code, depending on the debug settings configured, messages are printed to the debug UART providing useful information to the user.
After successful device initialization a set of diagnostics are printed similar to the ones below:

...
D [(587) xplrCommonHelpers|xplrHelpersUbxlibInit|131|: ubxlib init ok!
...
I [(2802) app|app_main|194|: All inits OK!
I [(3052) xplrCommonHelpers|xplrHlprLocSrvcGetDeviceInfo|412|: Got device info.
========= Device Info =========
Module variant: NEO-D9S
Module version: EXT CORE 1.00 (cd6322)
Hardware version: 00190000
Rom: 0x118B2060
Firmware: PMP 1.04
Protocol: 24.00
ID: 3840bac000
-------------------------------
I2C Port: 0
I2C Address: 0x43
I2C SDA pin: 21
I2C SCL pin: 22
===============================
I [(3082) app|app_main|200|: All infos OK!
D [(3086) xplrGnss|xplrGnssFsm|625|: Logging is enabled. Trying to initialize.
I [(3120) xplrGnss|xplrGnssAsyncLogInit|2016|: Initializing async logging
D [(3146) xplrGnss|xplrGnssFsm|628|: Sucessfully initialized GNSS logging.
...
I [(5472) xplrCommonHelpers|xplrHlprLocSrvcGetDeviceInfo|412|: Got device info.
========= Device Info =========
Module variant: ZED-F9R
Module version: EXT CORE 1.00 (a59682)
Hardware version: 00190000
Rom: 0x118B2060
Firmware: HPS 1.30
Protocol: 33.30
ID: 5340dae800
-------------------------------
I2C Port: 0
I2C Address: 0x42
I2C SDA pin: 21
I2C SCL pin: 22
===============================
...
D [(10254) xplrGnss|xplrGnssFsm|665|: Restart Completed.
...
D [(10810) xplrGnss|gnssNvsInit|3285|: NVS namespace <gnssDvc_0> for GNSS, init ok
D [(10822) xplrGnss|xplrGnssFsm|782|: Initialized NVS.
D [(10833) xplrLband|xplrLbandSetDestGnssHandler|260|: Successfully set GNSS device handler.
D [(10861) xplrLband|xplrLbandSetDestGnssHandler|261|: Stored GNSS device handler in config.
D [(10989) xplrCommonHelpers|xplrHlprLocSrvcOptionSingleValSet|295|: Set configuration value.
D [(11001) xplrLband|xplrLbandSetFrequency|362|: Stored frequency into LBAND config!
I [(11152) app|app_main|255|: Stored frequency: 1545260000 Hz
D [(11209) xplrCommonHelpers|xplrHlprLocSrvcOptionMultiValSet|319|: Set multiple configuration values.
I [(11356) app|app_main|302|: Read one value -- U_GNSS_CFG_VAL_KEY_ID_NMEA_HIGHPREC_L: val 1
D [(11475) xplrCommonHelpers|xplrHlprLocSrvcOptionSingleValSet|295|: Set configuration value.
I [(11675) app|app_main|329|: Read one value -- Default U_GNSS_CFG_VAL_KEY_ID_NMEA_HIGHPREC_L: val 0
I [(11792) app|app_main|347|: Read one value -- U_GNSS_CFG_VAL_KEY_ID_PMP_SERVICE_ID_U2: val 0
D [(11917) xplrCommonHelpers|xplrHlprLocSrvcOptionMultiValGet|376|: Got multiple configuration values.
I [(11944) app|app_main|371|: KEY: U_GNSS_CFG_VAL_KEY_ID_NMEA_HIGHPREC_L | val: 0
I [(11944) app|app_main|374|: KEY: U_GNSS_CFG_VAL_KEY_ID_MSGOUT_UBX_NAV_HPPOSLLH_I2C_U1 | val: 1
I [(11950) xplrLband|xplrLbandSendCorrectionDataAsyncStop|508|: Trying to stop LBAND Send Correction Data async.
I [(12010) xplrLband|xplrLbandSendCorrectionDataAsyncStop|510|: Looks like Correction data async sender is not running. Nothing to do.
D [(12038) xplrCommonHelpers|xplrHlprLocSrvcDeviceClose|249|: ubxlib device closed!
D [(12050) xplrLband|xplrLbandStopDevice|218|: Successfully stoped LBAND module!
D [(12165) xplrCommonHelpers|xplrHlprLocSrvcUbxlibDeinit|274|: ubxlib deinit ok!
I [(12190) app|app_main|386|: All devices stopped!
I [(12190) app|app_main|388|: ALL DONE

Build instructions

Building using Visual Studio Code

Building this example requires to edit a minimum set of files in order to select the corresponding source files and configure Wi-Fi and MQTT settings using Kconfig. Please follow the steps described bellow:

1. Open the XPLR-HPG-SW folder in VS code.
2. In CMakeLists select the hpg_gnss_config project, making sure that all other projects are commented out:

   ...
   # positioning examples
   set(ENV{XPLR_HPG_PROJECT} "hpg_gnss_config")
   #set(ENV{XPLR_HPG_PROJECT} "hpg_gnss_lband_correction")
   ...
   

3. Open the xplr_hpglib_cfg.h file and select debug options you wish to logged in the debug UART.

   ...
   #define XPLR_HPGLIB_SERIAL_DEBUG_ENABLED    1U
   ...
   #define XPLR_BOARD_DEBUG_ACTIVE            (1U)
   ...
   #define XPLRHELPERS_DEBUG_ACTIVE           (1U)
   #define XPLRGNSS_DEBUG_ACTIVE              (1U)
   ...
   

4. Open the xplr_hpglib_cfg.h file and select debug options you wish to logged in the SD card.
   For more information about the logging service of hpglib follow this guide

   ...
   #define XPLR_HPGLIB_LOG_ENABLED             1U
   ...
   #define XPLRGNSS_LOG_ACTIVE                (1U)
   ...
   #define XPLRLOCATION_LOG_ACTIVE            (1U)
   ...
   
   

5. From the VS code status bar select the COM Port that the XPLR-HPGx has enumerated on and the corresponding MCU platform (esp32 for XPLR-HPG2 and esp32s3 for XPLR-HPG1).
6. In case you have already compiled another project and the sdKconfig file is present under the XPLR-HPG-SW folder please delete it and run menu config by clicking on the "cog" symbol present in the vs code status bar.
7. Navigate to the Board Options section and select the board you wish to build the example for.
8. Under the Board Options settings make sure to select the GNSS module that your kit is equipped with. By default ZED-F9R is selected.
9. Navigate to the Dead Reckoning and Enable/Disable it according to your needs.
10. Click Save and then Build, Flash and Monitor the project to the MCU using the "flame" icon.

Building using ESP-IDF from a command line

1. Navigate to the XPLR-HPG-SW root folder.
2. In CMakeLists select the hpg_gnss_config project, making sure that all other projects are commented out.
3. Open the xplr_hpglib_cfg.h file and select debug options you wish to be logged in the SD card or the debug UART.
4. In case you have already compiled another project and the sdKconfig file is present under the XPLR-HPG-SW folder please delete it and run idf.py menuconfig.
5. Navigate to the fields mentioned above from step 7 and 8 and provide the appropriate configuration. When finished press q and answer Y to save the configuration.
6. Run idf.py build to compile the project.
7. Run idf.py -p COMX flash to flash the binary to the board, where COMX is the COM Port that the XPLR-HPGx has enumerated on.
8. Run idf.py monitor -p COMX to monitor the debug UART output.

Kconfig/Build Definitions-Macros

This is a description of definitions and macros configured by Kconfig.
In most cases, these values can be directly overwritten in the source code or just configured by running Kconfig before building.
Kconfig is used for easy/fast parameter configuration and building, without the need of modifying the source code.

Name	Default value	Belongs to	Description	Manual overwrite notes
CONFIG_BOARD_XPLR_HPGx_C21x	"CONFIG_BOARD_XPLR_HPG2_C214"	boards	Board variant to build firmware for.
CONFIG_XPLR_GNSS_DEADRECKONING_ENABLE	"Disabled"	hpg_gnss_lband_correction	Enables or Disables Dead Reckoning functionality.

Local Definitions-Macros

This is a description of definitions and macros found in the sample which are only present in main files.
All definitions/macros below are meant to make variables more identifiable.
You can change local macros as you wish inside the app.

Name	Description
APP_SERIAL_DEBUG_ENABLED	Switches debug printing messages ON or OFF
APP_SD_LOGGING_ENABLED	Switches logging of the application messages to the SD card ON or OFF.
APP_LBAND_FREQUENCY_EU	Sample frequency for EU region
APP_LBAND_FREQUENCY_US	Sample frequency for US region
APP_GNSS_I2C_ADDR	I2C address for ZED-F9R GNSS module.
APP_LBAND_I2C_ADDR	I2C address for NEO-D9S module.

Modules-Components used

Name	Description
boards	Board variant selection.
hpglib/common	Common functions.
hpglib/location_services/xplr_gnss_service	XPLR GNSS location device manager.
hpglib/location_services/location_service_helpers	Internally used by xplr_gnss_service.
hpglib/log_service	XPLR logging service.
hpglib/sd_service	Internally used by log_service.