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gps now over spi

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kleiax
2022-12-09 14:10:57 +01:00
parent 599f176622
commit f14992c040
26 changed files with 974 additions and 225 deletions
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lib/NtripClient/ntripClient.cpp
+4 -63
View File
@@ -10,7 +10,6 @@
*/
#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;
@@ -32,9 +31,6 @@ void NTRIPClient::loop() {
return;
this->lastLoopTime = millis();
this->gps->checkUblox();
this->gps->checkCallbacks();
if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime && this->activated) {
this->lastGPGGAPushTime = millis();
// std::cout << "Try to push GPGGA data." << std::endl;
@@ -96,15 +92,12 @@ void NTRIPClient::loop() {
}
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);
this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gps->setPortInput(COM_PORT_SPI, 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->setNavigationFrequency(1);
this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED);
this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 10);
this->gps->setAutoPVTcallbackPtr(&(NTRIPClient::printPVTdata));
this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
}
bool NTRIPClient::beginClient() {
@@ -249,58 +242,6 @@ void NTRIPClient::pushGPGGA(NMEA_GGA_data_t *nmeaData) {
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;
uint8_t fixType = ubxDataStruct->fixType;
char fixTypeString[32];
if (fixType == 0)
strcpy(fixTypeString, "None");
else if (fixType == 1)
strcpy(fixTypeString, "Dead Reckoning");
else if (fixType == 2)
strcpy(fixTypeString, "2D");
else if (fixType == 3)
strcpy(fixTypeString, "3D");
else if (fixType == 3)
strcpy(fixTypeString, "GNSS + Dead Reckoning");
else if (fixType == 5)
strcpy(fixTypeString, "Time Only");
else
strcpy(fixTypeString, "UNKNOWN");
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
char carrSolnString[16];
if (carrSoln == 0)
strcpy(carrSolnString, "None");
else if (carrSoln == 1)
strcpy(carrSolnString, "Floating");
else if (carrSoln == 2)
strcpy(carrSolnString, "Fixed");
else
strcpy(carrSolnString, "UNKNOWN");
uint32_t hAcc = ubxDataStruct->hAcc;
std::cout << "Lat: " << latitude
<< " Lng: " << longitude
<< " Alt: " << altitude << std::endl;
std::cout << "Fix: " << fixTypeString
<< " Carrier Solution: " << carrSolnString
<< " 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
+1 -4
View File
@@ -30,8 +30,7 @@ class NTRIPClient {
bool isConnected();
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);
@@ -61,8 +60,6 @@ class NTRIPClient {
const uint16_t tryReconnectTime = 5000;
const uint16_t bufferSize = 512;
const uint16_t pushGPGGATime = 10000;
static bool outputStatusPrintPVTdata;
};
#endif