added correction data for gnss

.vscode/settings.json

@@ -82,16 +82,23 @@
     "cSpell.words": [
         "Ahnung",
         "akku",
+        "blox",
         "gast",
+        "GNSS",
         "Huus",
         "Keine",
         "kleiax",
         "Lebennig",
+        "NMEA",
+        "NTRIP",
         "pidl",
         "pidr",
         "Punica",
         "RHEDE",
+        "Rtcm",
+        "Schalke",
         "TPMOBIL",
+        "UBLOX",
         "ZLPJ"
     ]
 }

include/networkConfig.h

@@ -31,6 +31,11 @@
 #define WLAN_CONNECT_LOOP_TIME 500
 #define ESP32BROKER
 
+#define NTRIP_HOST          "80.158.61.104"
+#define NTRIP_PORT          2101
+#define NTRIP_MOUNT_POINT   "EPS_NW"
+#define NTRIP_USER          "nw-916771"
+#define NTRIP_PASSWORD      "Schalke#246"
 
 //Network config ESP32
 #ifdef ESP32BROKER
@@ -44,6 +49,19 @@
 #endif //ESP32BROKER
 
 //Network config RHEDE
+#ifdef HOTSPOT
+#define WLAN_SSID "Kleiax Handy"
+#define WLAN_PASSWORD "12345677"
+#define WLAN_IP "192.168.11.4"
+#define WLAN_SUBNETMASK "255.255.128.0"
+#define WLAN_GATEWAY "192.168.0.1"
+#define MQTT_SERVER "192.168.1.7"
+#define MQTT_PORT 1883
+#define MQTT_AUTH
+#define MQTT_USER "kleiax"
+#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
+#endif //HOTSPOT
+
 #ifdef RHEDE
 #define WLAN_SSID "LebennigHuus"
 #define WLAN_PASSWORD "Punica-699"

lib/Navigation/navigation.cpp

@@ -11,9 +11,21 @@
 
 #include "navigation.h"
 
-Navigation::Navigation(uint8_t rx, uint8_t tx, Route* route) {
+Navigation::Navigation(Route* route) {
-    this->gps = new TinyGPSPlus;
+    this->gps = new SFE_UBLOX_GNSS();
-    Serial1.begin(9600, SERIAL_8N1, rx, tx);
+    if (this->gps->begin() == false) {
+        std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
+        while (1);
+    }
+
+    uint8_t versionHigh = this->gps->getProtocolVersionHigh();
+    uint8_t versionLow = this->gps->getProtocolVersionLow();
+    std::cout << "Neo-M8Q protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
+    this->gps->setI2COutput(COM_TYPE_UBX);
+    this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
+
+    
+
     if (route)
         this->route = route;
     else
@@ -27,8 +39,7 @@ Navigation::~Navigation() {
 }
 
 void Navigation::loop() {
-    while (Serial1.available())
+    this->gps->checkUbloxI2C();
-        gps->encode(Serial1.read());
 }
 
 void Navigation::newRoute() {
@@ -65,7 +76,7 @@ CourseCorrection Navigation::getCourseCorrection() {
         }
     }
 
-    double currentCourse = gps->course.deg();
+    double currentCourse = this->gps->course.deg();
     int16_t correction = currentCourse - targetCourse;
     if (correction > 180)
         correction -= 360;
@@ -99,9 +110,10 @@ bool Navigation::addCurrentPosToRoute() {
 
 Point Navigation::currentLocation() {
     Point p;
-    if (this->gps->location.isValid()) {
+    //TODO: check if the position is possible the true location
-        p.lat = this->gps->location.lat();
+    if (this->gps) {
-        p.lon = this->gps->location.lng();
+        p.lat = this->gps->getLatitude();
+        p.lon = this->gps->getLongitude();
     }
     return p;
 }
@@ -123,12 +135,12 @@ bool Navigation::setTargetPoint(Point target) {
 
 double Navigation::distanceBetween(Point p1, Point p2) {
     if (p1.isValid() && p2.isValid())
-        return TinyGPSPlus::distanceBetween(p1.lat, p1.lon, p2.lat, p2.lon);
+        return NavigationUtils::distanceBetween(p1, p2);
     return -1;
 }
 
 double Navigation::courseTo(Point p1, Point p2) {
     if (p1.isValid() && p2.isValid())
-        return TinyGPSPlus::courseTo(p1.lat, p1.lon, p2.lat, p2.lon);
+        return NavigationUtils::courseTo(p1, p2);
     return -1;
 }

lib/Navigation/navigation.h

@@ -12,12 +12,13 @@
 #ifndef NAVIGATION_H
 #define NAVIGATION_H
 
-#include <TinyGPS++.h>
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <Arduino.h>
 #include <Wire.h>
 #include <iostream>
 
 #include "route.h"
+#include "navigationUtils.h"
 
 /**
  * @brief The minimal distance between Points
@@ -53,11 +54,9 @@ class Navigation {
         /**
          * @brief Construct a new Navigation object
          * 
-         * @param rx pin to the gps device
-         * @param tx pin to the gps device
          * @param route with which to navigate
          */
-        Navigation(uint8_t rx, uint8_t tx, Route* route = nullptr);
+        Navigation(Route* route = nullptr);
 
         /**
          * @brief Destroy the Navigation object
@@ -168,7 +167,7 @@ class Navigation {
          */
         static double courseTo(Point p1, Point p2);
 
-        TinyGPSPlus* gps;
+        SFE_UBLOX_GNSS* gps;
         Route* route = nullptr;
 
         Point lastPoint;

lib/Navigation/navigationUtils.cpp

@@ -0,0 +1,10 @@
+/**
+ * @file navigationUtils.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-03-24
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */

lib/Navigation/navigationUtils.h

@@ -0,0 +1,30 @@
+/**
+ * @file navigationUtils.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @version 0.1
+ * @date 2022-03-24
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef NAVIGATION_UTILS_H
+#define NAVIGATION_UTILS_H
+
+#include "route.h"
+
+class NavigationUtils {
+    public:
+        void getCurrentCourse(Point p1);
+        void setLastPoint(Point p1);
+
+        static double courseTo(Point p1, Point p2);
+        static double courseTo(double lat1, double lon1, double lat2, double lon2);
+        static double distanceBetween(Point p1, Point p2);
+        static double distanceBetween(double lat1, double lon1, double lat2, double lon2);
+
+    private:
+        Point lastPoint;
+};
+
+#endif // NAVIGATION_UTILS_H

lib/Ntrip/NTRIPClient.cpp

@@ -0,0 +1,97 @@
+#include"NTRIPClient.h"
+bool NTRIPClient::reqSrcTbl(char* host,int &port)
+{
+  if(!connect(host,port)){
+      Serial.print("Cannot connect to ");
+      Serial.println(host);
+      return false;
+  }/*p = String("GET ") + String("/") + String(" HTTP/1.0\r\n");
+  p = p + String("User-Agent: NTRIP Enbeded\r\n");*/
+  print(
+      "GET / HTTP/1.0\r\n"
+      "User-Agent: NTRIPClient for Arduino v1.0\r\n"
+      );
+  unsigned long timeout = millis();
+  while (available() == 0) {
+     if (millis() - timeout > 5000) {
+        Serial.println("Client Timeout !");
+        stop();
+        return false;
+     }
+     delay(10);
+  }
+  char buffer[50];
+  readLine(buffer,sizeof(buffer));
+  if(strncmp((char*)buffer,"SOURCETABLE 200 OK",17))
+  {
+    Serial.print((char*)buffer);
+    return false;
+  }
+  return true;
+    
+}
+bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw)
+{
+    if(!connect(host,port))return false;
+    String p="GET /";
+    String auth="";
+    Serial.println("Request NTRIP");
+    
+    p = p + mntpnt + String(" HTTP/1.0\r\n"
+        "User-Agent: NTRIPClient for Arduino v1.0\r\n"
+    );
+    
+    if (strlen(user)==0) {
+        p = p + String(
+            "Accept: */*\r\n"
+            "Connection: close\r\n"
+            );
+    }
+    else {
+        auth = base64::encode(String(user) + String(":") + psw);
+        #ifdef Debug
+        Serial.println(String(user) + String(":") + psw);
+        #endif
+
+        p = p + String("Authorization: Basic ");
+        p = p + auth;
+        p = p + String("\r\n");
+    }
+    p = p + String("\r\n");
+    print(p);
+    #ifdef Debug
+    Serial.println(p);
+    #endif
+    unsigned long timeout = millis();
+    while (available() == 0) {
+        if (millis() - timeout > 20000) {
+            Serial.println("Client Timeout !");
+            return false;
+        }
+        delay(10);
+    }
+    char buffer[50];
+    readLine(buffer,sizeof(buffer));
+    if(strncmp((char*)buffer,"ICY 200 OK",10))
+    {
+      Serial.print((char*)buffer);
+      return false;
+    }
+    return true;
+}
+bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt)
+{
+    return reqRaw(host,port,mntpnt,"","");
+}
+int NTRIPClient::readLine(char* _buffer,int size)
+{
+  int len = 0;
+  while(available()) {
+    _buffer[len] = read();
+    len++;
+    if(_buffer[len-1] == '\n' || len >= size) break;
+  }
+  _buffer[len]='\0';
+
+  return len;
+}

lib/Ntrip/NTRIPClient.h

@@ -0,0 +1,18 @@
+#ifndef NTRIP_CLIENT
+#define NTRIP_CLIENT
+
+#include <WiFiClient.h>
+#include <Arduino.h>
+#include<base64.h>
+
+class NTRIPClient : public WiFiClient{
+  public :
+  bool reqSrcTbl(char* host,int &port);   //request MountPoints List serviced the NTRIP Caster 
+  bool reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw);      //request RAW data from Caster 
+  bool reqRaw(char* host,int &port,char* mntpnt); //non user
+  int readLine(char* buffer,int size);
+
+  
+};
+
+#endif

lib/Rtcm/rtcmInsert.cpp

@@ -0,0 +1,50 @@
+/**
+ * @file rtcmInsert.cpp
+ * @author  * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-03-24
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "rtcmInsert.h"
+
+
+RtcmInsert::RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword)
+    : address() {
+    this->ntrip_c = new NTRIPClient();
+
+    std::cout << "Requesting SourceTable." << std::endl;
+    if(this->ntrip_c->reqSrcTbl(ntripHost, ntripPort)) {
+        char buffer[512];
+        delay(5);
+        while(this->ntrip_c->available()) {
+            this->ntrip_c->readLine(buffer,sizeof(buffer));
+            std::cout << buffer;
+        }
+    }
+    else
+        std::cout << "SourceTable request error" << std::endl;
+
+    std::cout << "Requesting SourceTable is OK." << std::endl;
+    this->ntrip_c->stop(); //Need to call "stop" function for next request.
+
+    std::cout << "Requesting MountPoint's Raw data" << std::endl;
+    if(!this->ntrip_c->reqRaw(ntripHost, ntripPort, ntripMountPoint, ntripUser, ntripPassword))
+        std::cout << "Error Requesting MountPoint's Raw data" << std::endl;    
+    else
+        std::cout << "Requesting MountPoint is OK" << std::endl;
+}
+
+void RtcmInsert::loop() {
+    if (this->ntrip_c->available()) {
+        Wire.beginTransmission(this->address);
+        while(this->ntrip_c->available()) {
+            char ch = this->ntrip_c->read();        
+            Wire.write(ch);
+        }
+        Wire.endTransmission();
+    }
+}

lib/Rtcm/rtcmInsert.h

@@ -0,0 +1,31 @@
+/**
+ * @file rtcmInsert.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-03-24
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef RTCM_INSERT_H
+#define RTCM_INSERT_H
+
+#include <stdint.h>
+
+#include "NTRIPClient.h"
+
+class RtcmInsert {
+    public:
+        RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword);
+
+        void loop();
+
+    private:
+        uint8_t address;
+
+        NTRIPClient* ntrip_c;
+};
+
+#endif // RTCM_INSERT_H

platformio.ini

@@ -20,7 +20,7 @@ monitor_port = COM3
 lib_deps = 
 	madhephaestus/ESP32Encoder@^0.4.0
 	jvpernis/PS3 Controller Host@^1.1.0
-	mikalhart/TinyGPSPlus@^1.0.2
+	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.2.7
 	knolleary/PubSubClient@^2.8
 	br3ttb/PID@^1.2.1
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4