Merge pull request #107 from sparkfun/release_candidate

Update README - Issue #106
2022-02-04 08:47:40 +00:00
parent 081c9cb29f 773cee24c0
commit 67cfa73754
5 changed files with 244 additions and 0 deletions
@@ -104,6 +104,10 @@ Please check the module datasheets for details on what clock speeds and data rat

 For I<sup>2</sup>C communication, please be sure to remove all additional pull-ups on the I<sup>2</sup>C bus. u-blox modules include internal pull-ups on the I<sup>2</sup>C lines (sometimes called DDC in their manuals). Cut all I<sup>2</sup>C pull-up jumpers and/or remove them from peripheral boards. Otherwise, various data glitches can occur. See issues [38](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/38) and [40](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40) for more information. We recommend running the I<sup>2</sup>C bus at 100kHz.

+## Compatibility
+
+v2 of the library provides support for generation 8, 9 and 10 u-blox GNSS modules. For generation 6 and 7, please see [this example (depricated)](https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/tree/master/examples/Series_6_7/Example1_GetPositionAndTime_Series_6_7).
+
 ## Contributing

 If you would like to contribute to this library: please do, we truly appreciate it, but please follow [these guidelines](./CONTRIBUTING.md). Thanks!
@@ -0,0 +1,174 @@
+/*
+  Use ESP32 WiFi to get SPARTN data from PointPerfect (broker) as a Client
+  By: u-blox AG / Michael Ammann
+  Date: January 27th, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to obtain SPARTN data from a PointPerfect Broker over WiFi
+  and push it over I2C to a ZED-F9x.
+  It's confusing, but the Arduino is acting as a 'client' to the PointPerfect SSR correction service.
+
+  You will need to have a valid u-blox Thingstream account and have a PointPerfect Thing and payed plan. 
+  Thingstream offers SSR corrections to SPARTN cabalble RTK receivers such as the u-blox ZED-F9 series 
+  in continental Europ and US. There Network is planned to be expanded to ther regions over next years. 
+  To see sign up go to https://portal.thingstream.io/app/location-services/things
+
+  This is a proof of concept to show how to connect via MQTT to get SPARTN SSR correction. 
+  Using WiFi for a rover is generally a bad idea because of limited WiFi range in the field. 
+  You may use this exmaple in combination with a cell phone with hotspot mode enabled. 
+
+  For more information about MQTT, SPARTN and PointPerfect Correction Services 
+  please see: https://www.u-blox.com/en/product/pointperfect
+  
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/16481
+  RTK Surveyor: https://www.sparkfun.com/products/18443
+  RTK Express: https://www.sparkfun.com/products/18442
+  
+  Recommended Hardware:
+  MicroMod GNSS Carrier Board: https://www.sparkfun.com/products/17722 
+  ESP32 Micromod https://www.sparkfun.com/products/16781
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+#include <WiFi.h>
+#include <WiFiClientSecure.h>
+#include <ArduinoMqttClient.h>  
+#include "secrets.h"
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+    
+//Global variables
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+long lastReceived_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
+int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial);
+  Serial.println(F("PointPerfect testing"));
+  
+  Wire.begin(); //Start I2C
+
+  if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+ 
+  Serial.println(F("u-blox module connected"));
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
+  myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_SPARTN); // Be sure SPARTN input is enabled.
+   
+  myGNSS.setNavigationFrequency(1); //Set output in Hz.
+  Serial.print(F("Connecting to local WiFi"));
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(F("."));
+  }
+  Serial.println();
+
+  Serial.print(F("WiFi connected with IP: "));
+  Serial.println(WiFi.localIP());
+  
+  while (Serial.available()) Serial.read();
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    beginClient();
+    while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+  }
+
+  Serial.println(F("Press any key to start MQTT/SPARTN Client."));
+
+  delay(1000);
+}
+
+WiFiClientSecure wifiClient = WiFiClientSecure();
+MqttClient mqttClient(wifiClient);
+
+void mqttMessageHandler(int messageSize) {
+  uint8_t spartnData[512 * 4]; //Most incoming data is around 500 bytes but may be larger
+  int spartnCount = 0;
+  Serial.print(F("Pushed data from "));
+  Serial.print(mqttClient.messageTopic());
+  Serial.println(F(" topic to ZED"));
+  while (mqttClient.available())
+  {
+    char ch = mqttClient.read();
+    //Serial.write(ch); //Pipe to serial port is fine but beware, it's a lot of binary data
+    spartnData[spartnCount++] = ch;
+    if (spartnCount == sizeof(spartnData)) 
+      break;
+  }
+
+  if (spartnCount > 0)
+  {
+    //Push KEYS or SPARTN data to GNSS module over I2C
+    myGNSS.pushRawData(spartnData, spartnCount, false);
+    lastReceived_ms = millis();
+  }
+}
+
+//Connect to STARTN MQTT broker, receive RTCM, and push to ZED module over I2C
+void beginClient()
+{
+  Serial.println(F("Subscribing to Broker. Press key to stop"));
+  delay(10); //Wait for any serial to arrive
+  while (Serial.available()) Serial.read(); //Flush
+
+  while (Serial.available() == 0)
+  {
+    //Connect if we are not already
+    if (wifiClient.connected() == false)
+    {
+      // Connect to AWS IoT
+      wifiClient.setCACert(AWS_CERT_CA);
+      wifiClient.setCertificate(AWS_CERT_CRT);
+      wifiClient.setPrivateKey(AWS_CERT_PRIVATE);
+      if (!mqttClient.connect(AWS_IOT_ENDPOINT, AWS_IOT_PORT)) {
+        Serial.print(F("MQTT connection failed! Error code = "));
+        Serial.println(mqttClient.connectError());
+        return;
+      } else {
+        Serial.println(F("You're connected to the PointPerfect MQTT broker: "));
+        Serial.println(AWS_IOT_ENDPOINT);
+        // Subscribe to MQTT and register a callback
+        Serial.println(F("Subscribe to Topics")); 
+        mqttClient.onMessage(mqttMessageHandler);
+        mqttClient.subscribe(MQTT_TOPIC_KEY);
+        mqttClient.subscribe(MQTT_TOPIC_SPARTN);
+        lastReceived_ms = millis();
+      } //End attempt to connect
+    } //End connected == false
+    else {
+      mqttClient.poll();
+    }
+    //Close socket if we don't have new data for 10s
+    if (millis() - lastReceived_ms > maxTimeBeforeHangup_ms)
+    {
+      Serial.println(F("SPARTN timeout. Disconnecting..."));
+      if (mqttClient.connected() == true)
+        mqttClient.stop();
+      return;
+    }
+
+    delay(10);
+  }
+
+  Serial.println(F("User pressed a key"));
+  Serial.println(F("Disconnecting..."));
+  wifiClient.stop();
+}
@@ -0,0 +1,38 @@
+//Your WiFi credentials
+const char ssid[] = "<YOUR SSID>";
+const char password[] =  "<YOUR PASSWORD>";
+
+// Below infomation you can set after signing up with u-blox Thingstream portal 
+// and after add a new New PointPerfect Thing
+// https://portal.thingstream.io/app/location-services/things
+// in the new PointPerfect Thing you go to the credentials page and copy past the values and certificate into this.  
+
+// <Your PointPerfect Thing> -> Credentials -> Hostname
+const char AWS_IOT_ENDPOINT[]       = "pp.services.u-blox.com";
+const unsigned short AWS_IOT_PORT   = 8883;
+// <Your PointPerfect Thing> -> Credentials -> IP key distribution topic
+const char MQTT_TOPIC_KEY[]        = "/pp/key/ip";
+// <Your PointPerfect Thing> -> Credentials -> IP correction topic for EU/US region
+const char MQTT_TOPIC_SPARTN[]     = "/pp/ip/us"; // choice of {eu, us}
+
+// <Your PointPerfect Thing> -> Credentials -> Amazon Root Certificate
+static const char AWS_CERT_CA[] PROGMEM = R"EOF(
+-----BEGIN CERTIFICATE-----
+<ADD YOUR CERTICICATE HERE>
+-----END CERTIFICATE-----
+)EOF";
+
+// <Your PointPerfect Thing> -> Credentials -> Client Certificate
+static const char AWS_CERT_CRT[] PROGMEM = R"KEY(
+-----BEGIN CERTIFICATE-----
+<ADD YOUR CERTICICATE HERE>
+-----END CERTIFICATE-----
+)KEY";
+
+// Get this from Thingstream Portal 
+// <Your PointPerfect Thing> -> Credentials -> Client Key
+static const char AWS_CERT_PRIVATE[] PROGMEM = R"KEY(
+-----BEGIN RSA PRIVATE KEY-----
+<ADD YOUR KEY HERE>
+-----END RSA PRIVATE KEY-----
+)KEY";
@@ -597,6 +597,7 @@ SFE_UBLOX_STATUS_DATA_OVERWRITTEN	LITERAL1
 COM_TYPE_UBX	LITERAL1
 COM_TYPE_NMEA	LITERAL1
 COM_TYPE_RTCM3	LITERAL1
+COM_TYPE_SPARTN	LITERAL1

 COM_PORT_I2C	LITERAL1
 COM_PORT_UART1	LITERAL1
@@ -1463,6 +1463,33 @@ typedef struct
  UBX_RXM_RAWX_data_t  *callbackData;
 } UBX_RXM_RAWX_t;

+// UBX-RXM-PMP (0x02 0x72): PMP raw data (D9 modules)
+const uint16_t UBX_RXM_PMP_MAX_LEN = 528;
+
+typedef struct
+{
+  uint8_t version; // Message version (0x00 for this version)
+  uint8_t reserved0[3]; // Reserved
+  uint32_t timeTag; // Time since startup when frame started : ms
+  uint32_t uniqueWord[2]; // Received unique words
+  uint16_t serviceIdentifier; // Received service identifier
+  uint8_t spare; // Received spare data
+  uint8_t uniqueWordBitErrors; // Number of bit errors in both unique words
+  uint8_t userData[504]; // Received user data
+  uint16_t fecBits; // Number of bits corrected by FEC (forward error correction)
+  uint8_t ebno; // Energy per bit to noise power spectral density ratio : 2^-3 dB
+  uint8_t reserved1; // Reserved
+} UBX_RXM_PMP_data_t;
+
+typedef struct
+{
+	ubxAutomaticFlags automaticFlags;
+  UBX_RXM_PMP_data_t data;
+  bool moduleQueried;
+  void (*callbackPointer)(UBX_RXM_PMP_data_t);
+  UBX_RXM_PMP_data_t  *callbackData;
+} UBX_RXM_PMP_t;
+
 // CFG-specific structs

 // UBX-CFG-RATE (0x06 0x08): Navigation/measurement rate settings