ntripClient runs now - gnss to spi

lib/Navigation/navigation.cpp

@@ -17,7 +17,19 @@ Navigation::Navigation(Route* route) {
         std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
         while (1);
     }
+    this->init(route);
+}
 
+Navigation::Navigation(SPIClass spiPort, uint8_t csPin, Route* route) {
+    this->gps = new SFE_UBLOX_GNSS();
+    if (this->gps->begin(spiPort, csPin, 4000000) == false) {
+        std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
+        while (1);
+    }
+    this->init(route);
+}
+
+void Navigation::init(Route* route) {
     uint8_t versionHigh = this->gps->getProtocolVersionHigh();
     uint8_t versionLow = this->gps->getProtocolVersionLow();
     std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
@@ -47,7 +59,7 @@ void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String
     this->ntripClient = new NTRIPClient(this->gps, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
     this->ntripClient->gpsConfiguration();
     this->ntripClient->loop();
-    this->ntripClient->setActivated(true);
+    this->ntripClient->setActivated(false);
     this->isNtripInit = true;
 }
 

lib/Navigation/navigation.h

@@ -14,8 +14,8 @@
 
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <Arduino.h>
-#include <Wire.h>
 #include <iostream>
+#include <SPI.h>
 
 #include "route.h"
 #include "navigationUtils.h"
@@ -53,12 +53,19 @@ struct CourseCorrection {
 class Navigation {
     public:
         /**
-         * @brief Construct a new Navigation object
+         * @brief Construct a new Navigation object and using I2C
          * 
          * @param route with which to navigate
          */
         Navigation(Route* route = nullptr);
 
+        /**
+         * @brief Construct a new Navigation object and using SPI
+         * 
+         * @param route with which to navigate
+         */
+        Navigation(SPIClass spiPort, uint8_t csPin, Route* route = nullptr);
+
         /**
          * @brief Destroy the Navigation object
          * 
@@ -125,6 +132,13 @@ class Navigation {
          * @return SFE_UBLOX_GNSS* 
          */
         SFE_UBLOX_GNSS* getGPS() { return this->gps; }
+        
+        /**
+         * @brief Returns the NTRIPClient object
+         * 
+         * @return NTRIPClient* 
+         */
+        NTRIPClient* getNTRIPClient() { return this->ntripClient; }
 
         /**
          * @brief Get the Route Info object
@@ -179,6 +193,8 @@ class Navigation {
          */
         static double courseTo(Point p1, Point p2);
 
+        void init(Route* route);
+
         SFE_UBLOX_GNSS* gps;
         Route* route = nullptr;
         NTRIPClient* ntripClient = nullptr;