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SparkFunGNSS/examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino
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/*
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 capable RTK receivers such as the u-blox ZED-F9 series
in continental Europe and US. Their Network is planned to be expanded to other regions over the next years.
To 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> // Click here to get the library: http://librarymanager/All#ArduinoMqttClient
#include "secrets.h"
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;
#define OK(ok) (ok ? F(" -> OK") : F(" -> ERROR!")) // Convert uint8_t into OK/ERROR
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
//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
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printPVTdata will be called when new NAV PVT data arrives
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
// / _____ This _must_ be UBX_NAV_PVT_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
{
double latitude = ubxDataStruct->lat; // Print the latitude
Serial.print(F("Lat: "));
Serial.print(latitude / 10000000.0, 7);
double longitude = ubxDataStruct->lon; // Print the longitude
Serial.print(F(" Long: "));
Serial.print(longitude / 10000000.0, 7);
double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
Serial.print(F(" Height: "));
Serial.print(altitude / 1000.0, 3);
uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
Serial.print(F(" Fix: "));
Serial.print(fixType);
if (fixType == 0)
Serial.print(F(" (None)"));
else if (fixType == 1)
Serial.print(F(" (Dead Reckoning)"));
else if (fixType == 2)
Serial.print(F(" (2D)"));
else if (fixType == 3)
Serial.print(F(" (3D)"));
else if (fixType == 3)
Serial.print(F(" (GNSS + Dead Reckoning)"));
else if (fixType == 5)
Serial.print(F(" (Time Only)"));
else
Serial.print(F(" (UNKNOWN)"));
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
Serial.print(F(" Carrier Solution: "));
Serial.print(carrSoln);
if (carrSoln == 0)
Serial.print(F(" (None)"));
else if (carrSoln == 1)
Serial.print(F(" (Floating)"));
else if (carrSoln == 2)
Serial.print(F(" (Fixed)"));
else
Serial.print(F(" (UNKNOWN)"));
uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
Serial.print(F(" Horizontal Accuracy Estimate: "));
Serial.print(hAcc);
Serial.print(F(" (mm)"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Callback: printRXMCOR will be called when new RXM COR data arrives
// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
// / _____ This _must_ be UBX_RXM_COR_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
{
Serial.print(F("UBX-RXM-COR: ebno: "));
Serial.print(ubxDataStruct->ebno);
Serial.print(F(" protocol: "));
if (ubxDataStruct->statusInfo.bits.protocol == 1)
Serial.print(F("RTCM3"));
else if (ubxDataStruct->statusInfo.bits.protocol == 2)
Serial.print(F("SPARTN"));
else if (ubxDataStruct->statusInfo.bits.protocol == 29)
Serial.print(F("PMP (SPARTN)"));
else if (ubxDataStruct->statusInfo.bits.protocol == 30)
Serial.print(F("QZSSL6"));
else
Serial.print(F("Unknown"));
Serial.print(F(" errStatus: "));
if (ubxDataStruct->statusInfo.bits.errStatus == 1)
Serial.print(F("Error-free"));
else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
Serial.print(F("Erroneous"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgUsed: "));
if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
Serial.print(F("Not used"));
else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
Serial.print(F("Used"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgEncrypted: "));
if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
Serial.print(F("Not encrypted"));
else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
Serial.print(F("Encrypted"));
else
Serial.print(F("Unknown"));
Serial.print(F(" msgDecrypted: "));
if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
Serial.print(F("Not decrypted"));
else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
Serial.print(F("Successfully decrypted"));
else
Serial.print(F("Unknown"));
Serial.println();
}
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
void setup()
{
Serial.begin(115200);
while (!Serial);
Serial.println(F("PointPerfect testing"));
Wire.begin(); //Start I2C
//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
while (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GNSS module not detected at default I2C address. Please check wiring."));
delay(2000);
}
Serial.println(F("u-blox GNSS module connected"));
uint8_t ok = myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
if (ok) ok = myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_SPARTN); // Be sure SPARTN input is enabled.
if (ok) ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 0); // Use IP source (default). Change this to 1 for L-Band (PMP)
if (ok) ok = myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
if (ok) ok = myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the SPARTN data is being decrypted successfully
//if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
Serial.print(F("GNSS: configuration "));
Serial.println(OK(ok));
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();
Serial.println(F("Press any key to start MQTT/SPARTN Client."));
}
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."));
}
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
}
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);
mqttClient.setId(MQTT_CLIENT_ID);
mqttClient.setKeepAliveInterval(60*1000);
mqttClient.setConnectionTimeout( 5*1000);
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);
mqttClient.subscribe(MQTT_TOPIC_ASSISTNOW);
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;
}
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
delay(10);
}
Serial.println(F("User pressed a key"));
Serial.println(F("Disconnecting..."));
wifiClient.stop();
}
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