ntripClient runs now - gnss to spi

doc/PinBelegungen.txt

@@ -10,11 +10,11 @@ INTL1	32				GND							GND
 INTL2	33				19		SCL					SCL
 INTB1	25				18							VCC
 INTB2	26				5
-DirL1	27				17		GPS RX deprecated
+DirL1	27				17		SPI_CS
-DirR2	14				16		GPS TX deprecated
+DirR2	14				16		SPI_COPI
-DirL2	12				4		SD-Card
+DirL2	12				4		SPI_CIPO
 		GND				x
-PWML	13				2		SD-Card
+PWML	13				2		SPI_SCK
 		x				15		WS2812 LED ?
 		x				x
 		CMD				x

include/config.h

@@ -15,3 +15,7 @@
  * The PS3-Controller only connects to the address which is saved in it.
  */
 #define CONTROLLER_MAC "24:62:AB:F2:4B:3A"
+#define UBLOX_GNSS_SPI_CS 17
+#define UBLOX_GNSS_SPI_COPI 16
+#define UBLOX_GNSS_SPI_CIPO 4
+#define UBLOX_GNSS_SPI_SCK 2

include/networkConfig.h

@@ -31,7 +31,7 @@
 #define WLAN_CONNECT_LOOP_TIME 500
 #define WLAN_DNS_SERVER     "8.8.8.8"
 
-#define NTRIP_NS
+#define NTRIP_RTK2GO
 
 // NTRIP config NRW
 #ifdef NTRIP_NRW
@@ -51,6 +51,16 @@
 #define NTRIP_PASSWORD      "ALdx-1-3e49"
 #endif // NTRIP_NS
 
+// NTRIP config RTK2Go
+#ifdef NTRIP_RTK2GO
+#define NTRIP_HOST          "rtk2go.com"
+#define NTRIP_PORT          2101
+#define NTRIP_MOUNT_POINT   "Blijham"
+#define NTRIP_USER          "alex17813@gmail.com"
+#define NTRIP_PASSWORD      "none"
+#endif // NTRIP_RTK2GO
+
+
 #define RHEDE
 
 //Network config ESP32

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
          * 
@@ -126,6 +133,13 @@ class Navigation {
          */
         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;

lib/NtripClient/ntripClient.cpp

@@ -10,6 +10,7 @@
  */
 
 #include "ntripClient.h"
+bool NTRIPClient::outputStatusPrintPVTdata = false;
 
 NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
     this->gps = gps;
@@ -34,7 +35,7 @@ void NTRIPClient::loop() {
     this->gps->checkUblox();
     this->gps->checkCallbacks();
 
-    if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime) {
+    if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime && this->activated) {
         this->lastGPGGAPushTime = millis();
         // std::cout << "Try to push GPGGA data." << std::endl;
         NMEA_GGA_data_t *data = new NMEA_GGA_data_t;
@@ -83,7 +84,7 @@ void NTRIPClient::loop() {
             if (this->activated)
                 this->state = NTRIPClientStates::openConnection;
             if (this->activated) {
-                std::cout << "state is openConnection" << std::endl;
+                // std::cout << "state is openConnection" << std::endl;
             }
             break;
 
@@ -98,7 +99,7 @@ void NTRIPClient::gpsConfiguration() {
     this->gps->setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA);
     this->gps->setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
     // Set the differential mode - ambiguities are fixed whenever possible
-    // this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); 
+    this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); 
     this->gps->setNavigationFrequency(1);
     this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
     this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 10);
@@ -226,7 +227,7 @@ bool NTRIPClient::processConnection() {
         if (rtcmCount > 0) {
             this->lastReceivedRtcmTime = millis();
             this->gps->pushRawData(rtcmData, rtcmCount);
-            std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
+            // std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
         }
     } else {
         std::cout << "Connection to " << this->host << " dropped!" << std::endl;
@@ -242,13 +243,16 @@ bool NTRIPClient::processConnection() {
 }
 
 void NTRIPClient::pushGPGGA(NMEA_GGA_data_t *nmeaData) {
-    if (this->ntripClient->connected() && this->transmitLocation) {
+    if (this->ntripClient->connected() && this->transmitLocation)
-        std::cout << "Pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
         this->ntripClient->print((const char *)nmeaData->nmea);
-    }
+    else
+        std::cout << "Failed to pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
 }
 
 void NTRIPClient::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
+    if (!NTRIPClient::outputStatusPrintPVTdata)
+        return;
+
     double latitude = (double) ubxDataStruct->lat / 10000000.0;
     double longitude = (double) ubxDataStruct->lon / 10000000.0;
     double altitude = (double) ubxDataStruct->hMSL / 1000.0;
@@ -293,6 +297,10 @@ void NTRIPClient::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
               << " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
 }
 
+void NTRIPClient::setOutputStatusPrintPVTdata(bool status) {
+    NTRIPClient::outputStatusPrintPVTdata = status;
+}
+
 bool NTRIPClient::isConnected() {
     if (this->state == NTRIPClientStates::pushData)
         return true;

lib/NtripClient/ntripClient.h

@@ -31,6 +31,7 @@ class NTRIPClient {
         NTRIPClientStates getClientState() { return this->state; }
 
         static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+        static void setOutputStatusPrintPVTdata(bool status);
 
     private:
         void pushGPGGA(NMEA_GGA_data_t *nmeaData);
@@ -60,6 +61,8 @@ class NTRIPClient {
         const uint16_t tryReconnectTime = 5000;
         const uint16_t bufferSize = 512;
         const uint16_t pushGPGGATime = 10000;
+
+        static bool outputStatusPrintPVTdata;
 };
 
 #endif

src/SpecialMenus/GPS/menuGPS.cpp

@@ -11,8 +11,9 @@
 
 #include "menuGPS.h"
 
-MenuGPS::MenuGPS(SFE_UBLOX_GNSS* gps) {
+MenuGPS::MenuGPS(DriveManager* driveManager) {
-    this->gps = gps;
+    this->gps = driveManager->getNavigation()->getGPS();
+    this->ntripClient = driveManager->getNavigation()->getNTRIPClient();
     this->lastMillis = millis();
 }
 
@@ -33,7 +34,7 @@ void MenuGPS::down() {
 }
 
 void MenuGPS::right() {
-    this->printMenu();
+    this->yes();
 }
 
 void MenuGPS::left() {
@@ -46,11 +47,12 @@ void MenuGPS::no() {
 }
 
 void MenuGPS::yes() {
+    this->runCommand();
     this->printMenu();
 }
 
 void MenuGPS::printMenu() {
-    this->printPage(this->currentPage);
+    this->printPage();
 }
 
 void MenuGPS::update() {
@@ -61,7 +63,7 @@ void MenuGPS::update() {
     this->lastMillis = millis();
 }
 
-void MenuGPS::printPage(uint8_t page) const {
+void MenuGPS::printPage() const {
     uint8_t fixType = gps->getFixType();
 
     switch (this->currentPage) {
@@ -127,13 +129,48 @@ void MenuGPS::printPage(uint8_t page) const {
         }
             break;
 
+        case 3: {
+            bool status;
+            if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
+                status = true;
+            else
+                status = false;
+
+            if (this->lcd) {
+                lcd->clear();
+                lcd->setCursor(0, 0);
+                lcd->print("NTRIP Client");
+                lcd->setCursor(0, 1);
+                if (status)
+                    lcd->print("enabled");
+                else
+                    lcd->print("disabled");
+            }
+            if (status) 
+                std::cout << "NTRIP Client is enabled." << std::endl;
+            else
+                std::cout << "NTRIP Client is disabled" << std::endl;
+        }
+            break;
+
         default:
             if (this->lcd) {
                 lcd->clear();
                 lcd->setCursor(0, 0);
-                lcd->printf("Page: %u", page);  
+                lcd->printf("Page: %u", this->currentPage);  
             }
-            std::cout << "Page: " << (int) page << std::endl;
+            std::cout << "Page: " << (int) this->currentPage << std::endl;
+            break;
+    }
+}
+
+void MenuGPS::runCommand() const {
+    switch (this->currentPage) {
+        case 3:
+            if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
+                this->ntripClient->setActivated(false);
+            else
+                this->ntripClient->setActivated(true);
             break;
     }
 }

src/SpecialMenus/GPS/menuGPS.h

@@ -15,6 +15,8 @@
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 
 #include "menuControl.h"
+#include "driveModi/driveManager.h"
+#include "ntripClient.h"
 
 /**
  * @brief A class to print informations about the GPS object
@@ -27,7 +29,7 @@ class MenuGPS : public MenuControl {
          * 
          * @param gps 
          */
-        MenuGPS(SFE_UBLOX_GNSS* gps);
+        MenuGPS(DriveManager* driveManager);
 
 
         /**
@@ -77,9 +79,11 @@ class MenuGPS : public MenuControl {
     private:
         const uint8_t countPages = 7;
         uint8_t currentPage = 0;
-        void printPage(const uint8_t page) const;
+        void printPage() const;
+        void runCommand() const;
 
         SFE_UBLOX_GNSS* gps;
+        NTRIPClient* ntripClient;
 
         const uint16_t delay = 5000;
         uint32_t lastMillis = 0;

src/driveModi/driveManager.cpp

@@ -17,7 +17,10 @@ Modi& operator++(Modi& m, int) {
 
 DriveManager::DriveManager(MoveControl *moveControl, bool wifi) {
     this->moveControl = moveControl;
-    this->navigation = new Navigation();
+
+    SPIClass spiPort(HSPI);
+    spiPort.begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
+    this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
     // if (wifi)

src/driveModi/driveManager.h

@@ -12,16 +12,13 @@
 #ifndef DRIVE_MANAGER_H
 #define DRIVE_MANAGER_H
 
-//GPS Serial Pins
-#define GPS_RX 17
-#define GPS_TX 16
-#define GPS_BAUD 9600
-
 #include <Arduino.h>
+#include <SPI.h>
 
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
 #include "navigation.h"
+#include "config.h"
 #include "networkConfig.h"
 #include "debugTimes.h"
 

src/main.cpp

@@ -253,7 +253,7 @@ void makeMenu() {
     MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* test_m = new MenuTestMode(driveManager);
-    MenuGPS* gps_m = new MenuGPS(driveManager->getNavigation()->getGPS());
+    MenuGPS* gps_m = new MenuGPS(driveManager);
     MenuAkku* akku_m = new MenuAkku(mainBattery);
 
     // Set Menus on LCD