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Refactor example 14. Add Emlid as target.

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This commit is contained in:
Nathan Seidle
2021-12-12 21:36:25 -07:00
parent 2c47c098db
commit 460836c5c1
2 changed files with 69 additions and 52 deletions
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examples/ZED-F9P/Example14_NTRIPServer/Example14_NTRIPServer.ino
+56 -47
View File
@@ -1,7 +1,5 @@
/*
Note: compiles OK with v2.0 but is currently untested
Use ESP32 WiFi to push RTCM data to RTK2Go (caster) as a Server
Use ESP32 WiFi to push RTCM data to RTK2Go (Caster) as a Server
By: SparkFun Electronics / Nathan Seidle
Date: December 14th, 2020
License: MIT. See license file for more information but you can
@@ -33,26 +31,21 @@
#include <WiFi.h>
#include "secrets.h"
WiFiClient client;
WiFiClient ntripCaster;
#include <Wire.h> //Needed for I2C to GNSS
#include <Wire.h>
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;
//Basic Connection settings to RTK2Go NTRIP Caster - See secrets for mount specific credentials
//Global Variables
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
const uint16_t casterPort = 2101;
const char * casterHost = "rtk2go.com";
const char * ntrip_server_name = "SparkFun_RTK_Surveyor";
long lastSentRTCM_ms = 0; //Time of last data pushed to socket
long lastSentRTCM_ms = 0; //Time of last data pushed to socket
int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
uint32_t serverBytesSent = 0; //Just a running total
long lastReport_ms = 0; //Time of last report of bytes sent
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
long lastReport_ms = 0; //Time of last report of bytes sent
void setup()
{
Serial.begin(115200); // You may need to increase this for high navigation rates!
@@ -73,7 +66,8 @@ void setup()
Serial.print("Connecting to local WiFi");
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(".");
}
@@ -98,7 +92,8 @@ void setup()
if (response == false)
{
Serial.println(F("Failed to disable NMEA. Freezing..."));
while (1);
while (1)
;
}
else
Serial.println(F("NMEA disabled"));
@@ -114,7 +109,8 @@ void setup()
if (response == false)
{
Serial.println(F("Failed to enable RTCM. Freezing..."));
while (1);
while (1)
;
}
else
Serial.println(F("RTCM sentences enabled"));
@@ -129,63 +125,70 @@ void setup()
if (response == false)
{
Serial.println(F("Failed to enter static position. Freezing..."));
while (1);
while (1)
;
}
else
Serial.println(F("Static position set"));
//You could instead do a survey-in but it takes much longer to start generating RTCM data. See Example4_BaseWithLCD
//Alternatively to setting a static position, you could do a survey-in
//but it takes much longer to start generating RTCM data. See Example4_BaseWithLCD
//myGNSS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
if (myGNSS.saveConfiguration() == false) //Save the current settings to flash and BBR
Serial.println(F("Module failed to save."));
Serial.println(F("Module failed to save"));
Serial.println(F("Module configuration complete"));
}
void loop()
{
if (Serial.available()) beginServing();
if (Serial.available())
beginServing();
Serial.println(F("Press any key to start serving."));
Serial.println(F("Press any key to start serving"));
delay(1000);
}
void beginServing()
{
Serial.println("Xmit to RTK2Go. Press any key to stop");
Serial.println("Begin transmitting to caster. Press any key to stop");
delay(10); //Wait for any serial to arrive
while (Serial.available()) Serial.read(); //Flush
while (Serial.available())
Serial.read(); //Flush
while (Serial.available() == 0)
{
//Connect if we are not already
if (client.connected() == false)
if (ntripCaster.connected() == false)
{
Serial.printf("Opening socket to %s\n", casterHost);
if (client.connect(casterHost, casterPort) == true) //Attempt connection
if (ntripCaster.connect(casterHost, casterPort) == true) //Attempt connection
{
Serial.printf("Connected to %s:%d\n", casterHost, casterPort);
const int SERVER_BUFFER_SIZE = 512;
char serverBuffer[SERVER_BUFFER_SIZE];
const int SERVER_BUFFER_SIZE = 512;
char serverRequest[SERVER_BUFFER_SIZE];
snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP %s/%s\r\n\r\n",
mntpnt_pw, mntpnt, ntrip_server_name, "App Version 1.0");
snprintf(serverRequest,
SERVER_BUFFER_SIZE,
"SOURCE %s /%s\r\nSource-Agent: NTRIP SparkFun u-blox Server v1.0\r\n\r\n",
mountPointPW, mountPoint);
Serial.printf("Sending credentials:\n%s\n", serverBuffer);
client.write(serverBuffer, strlen(serverBuffer));
Serial.println(F("Sending server request:"));
Serial.println(serverRequest);
ntripCaster.write(serverRequest, strlen(serverRequest));
//Wait for response
unsigned long timeout = millis();
while (client.available() == 0)
while (ntripCaster.available() == 0)
{
if (millis() - timeout > 5000)
{
Serial.println(">>> Client Timeout !");
client.stop();
Serial.println("Caster timed out!");
ntripCaster.stop();
return;
}
delay(10);
@@ -195,30 +198,34 @@ void beginServing()
bool connectionSuccess = false;
char response[512];
int responseSpot = 0;
while (client.available())
while (ntripCaster.available())
{
response[responseSpot++] = client.read();
response[responseSpot++] = ntripCaster.read();
if (strstr(response, "200") > 0) //Look for 'ICY 200 OK'
connectionSuccess = true;
if (responseSpot == 512 - 1) break;
if (responseSpot == 512 - 1)
break;
}
response[responseSpot] = '\0';
if (connectionSuccess == false)
{
Serial.printf("Failed to connect to RTK2Go: %s", response);
Serial.printf("Failed to connect to Caster: %s", response);
return;
}
} //End attempt to connect
else
{
Serial.println("Connection to host failed");
return;
}
} //End connected == false
if (client.connected() == true)
if (ntripCaster.connected() == true)
{
delay(10);
while (Serial.available()) Serial.read(); //Flush any endlines or carriage returns
while (Serial.available())
Serial.read(); //Flush any endlines or carriage returns
lastReport_ms = millis();
lastSentRTCM_ms = millis();
@@ -226,7 +233,8 @@ void beginServing()
//This is the main sending loop. We scan for new ublox data but processRTCM() is where the data actually gets sent out.
while (1)
{
if (Serial.available()) break;
if (Serial.available())
break;
myGNSS.checkUblox(); //See if new data is available. Process bytes as they come in.
@@ -236,7 +244,7 @@ void beginServing()
if (millis() - lastSentRTCM_ms > maxTimeBeforeHangup_ms)
{
Serial.println("RTCM timeout. Disconnecting...");
client.stop();
ntripCaster.stop();
return;
}
@@ -256,10 +264,11 @@ void beginServing()
Serial.println("User pressed a key");
Serial.println("Disconnecting...");
client.stop();
ntripCaster.stop();
delay(10);
while (Serial.available()) Serial.read(); //Flush any endlines or carriage returns
while (Serial.available())
Serial.read(); //Flush any endlines or carriage returns
}
//This function gets called from the SparkFun u-blox Arduino Library.
@@ -267,10 +276,10 @@ void beginServing()
//Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
{
if (client.connected() == true)
if (ntripCaster.connected() == true)
{
client.write(incoming); //Send this byte to socket
ntripCaster.write(incoming); //Send this byte to socket
serverBytesSent++;
lastSentRTCM_ms = millis();
}
}
}
examples/ZED-F9P/Example14_NTRIPServer/secrets.h
+13 -5
View File
@@ -1,7 +1,15 @@
//Your WiFi credentials
const char* ssid = "TRex";
const char* password = "hasBigTeeth";
const char *ssid = "TRex";
const char *password = "hasBigTeeth";
//Your RTK2GO mount point credentials
const char* mntpnt_pw = "WR5wRo4H";
const char* mntpnt = "bldr_dwntwn2";
//RTK2Go works well and is free
const char casterHost[] = "rtk2go.com";
const uint16_t casterPort = 2101;
const char mountPoint[] = "bldr_dwntwn2"; //The mount point you want to push data to
const char mountPointPW[] = "WR5wRo4H";
//Emlid Caster also works well and is free
//const char casterHost[] = "caster.emlid.com";
//const uint16_t casterPort = 2101;
//const char mountPoint[] = "MP1979d"; //The mount point you want to push data to
//const char mountPointPW[] = "296ynq";