/*
* *** Test program for ZED-F9P module for M5Stack ***
* Geosense Inc.
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*/
#include
#include
#include
#include
#include "SparkFun_Ublox_Arduino_Library.h"
#include "NTRIPClient.h"
#define E7 10000000.0
#define E3 1000.0
SFE_UBLOX_GPS myGPS;
const char* ssid = "my ssid";
const char* password = "my password";
char* host = "rtk2go.com";
int httpPort = 2101; //port 2101 is default port of NTRIP caster
char* mntpnt = "geosense_f9p";
char* user = "";
char* passwd = "";
NTRIPClient ntrip_c;
int chipSelect = 4;
#define SAVE_BUFF_MAX 1024
char saveBuff[ SAVE_BUFF_MAX ];
int saveIndex;
char saveFileName[256];
int fileSaved;
int fileSaving;
int wifiConnected;
int ntripCount;
unsigned long ntripLastMillis;
unsigned long gpsLastMillis;
File fd;
int solutionRate;
int msecSolution;
void setup() {
// put your setup code here, to run once:
M5.begin();
M5.Lcd.setTextSize(3);
M5.Lcd.setCursor(0,0);
// serial
Serial.begin(115200);
Serial2.begin(38400, SERIAL_8N1, 16, 17);
// gps
if ( ! myGPS.begin(Serial2) ){
Serial.println("gps initialize failed");
M5.Lcd.println("gps initialize failed");
while(1);
}
myGPS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
//myGPS.saveConfiguration(); //Save the current settings to flash and BBR
// Wifi
delay(10);
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
wifiConnected = 1;
Serial.println("WiFi connected");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
// NTRIP
Serial.println("Requesting SourceTable.");
if(ntrip_c.reqSrcTbl(host,httpPort)){
char buffer[512];
delay(5);
while(ntrip_c.available()){
ntrip_c.readLine(buffer,sizeof(buffer));
Serial.print(buffer);
}
}
else{
Serial.println("SourceTable request error");
}
Serial.print("Requesting SourceTable is OK\n");
ntrip_c.stop(); //Need to call "stop" function for next request.
Serial.println("Requesting MountPoint's Raw data");
if(!ntrip_c.reqRaw(host,httpPort,mntpnt,user,passwd)){
delay(15000);
ESP.restart();
}
Serial.println("Requesting MountPoint is OK");
strcpy( saveFileName, "" );
fileSaved = 0;
fileSaving = 0;
saveIndex = 0;
ntripCount = 0;
solutionRate = 1; // number of solution per second
}
void loop() {
int nret;
M5.update();
// put your main code here, to run repeatedly:
if(ntrip_c.available()) {
char ch = ntrip_c.read();
Serial2.print(ch);
ntripLastMillis = millis();
ntripCount++;
}
if (Serial2.available() > 0) myGPS.checkUblox();
msecSolution = 1000 / solutionRate - 1;
if (millis() - gpsLastMillis > msecSolution){
gpsLastMillis = millis();
double lat = myGPS.getLatitude() / E7;
double lon = myGPS.getLongitude() / E7;
double alt = myGPS.getAltitude() / E3;
int fix = myGPS.getCarrierSolutionType();
//M5.Lcd.clear(BLACK);
M5.Lcd.setCursor(0,0);
M5.Lcd.printf("LAT=%.8lf\r\n\r\n", lat);
M5.Lcd.printf("LON=%.8lf\r\n\r\n", lon);
M5.Lcd.printf("ALT=%.3lf\r\n\r\n", alt);
M5.Lcd.printf("FIX=%u SPS=%d\r\n\r\n", fix, solutionRate);
wifiConnected = (WiFi.status() == WL_CONNECTED) ;
if ( fileSaving ){
//Serial.println("file saving");
//Serial.println(saveFileName);
if ( strlen( saveFileName ) == 0 ){
nret = setFilePath( myGPS.getYear(), myGPS.getMonth() , myGPS.getDay(),
myGPS.getHour(), myGPS.getMinute(), myGPS.getSecond() );
if ( nret < 0 ) {
fileSaved = -1;
fileSaving = 0;
strcpy( saveFileName, "" );
}
}
if ( strlen( saveFileName ) > 0 ){
int numBytes = setNmeaData();
if ( numBytes > 0 ){
nret = sdSave( saveFileName, saveBuff, numBytes );
if ( nret == numBytes ) fileSaved = 1;
else fileSaved = 0;
}
}
}
else fileSaved = 0;
M5.Lcd.printf("SAVED=%d\r\n", fileSaved);
M5.Lcd.printf("NTRIP=%d\r\n", ntripCount );
if ( millis() - ntripLastMillis > 5000 ){ // 5sec no ntrip data
if(!ntrip_c.reqRaw(host,httpPort,mntpnt,user,passwd)){
Serial.println("ntrip reconnct failed");
}
}
}
if ( M5.BtnA.wasReleased() ){
fileSaving = ! fileSaving;
Serial.println(fileSaving);
if ( ! fileSaving ) strcpy( saveFileName, "" );
}
if ( M5.BtnB.wasReleased() ){
if ( solutionRate == 1 ) solutionRate = 5;
else solutionRate = 1;
myGPS.setNavigationFrequency( solutionRate );
}
}
// set file path to buffer(saveFileName)
//
int setFilePath( int year, int month, int day, int hour, int minute, int sec)
{
char buff[256];
sprintf( buff, "/gpslog/%d%02d%02d", year, month, day );
if ( ! SD.exists( buff ) ){
if ( ! SD.mkdir( buff ) ) return -1;
}
sprintf( saveFileName, "%s/gps%02d%02d%02d.log", buff, hour, minute, sec );
return 0;
}
// set NMEA RMC,GGA sentence to buffer(saveBuff)
//
// return: stored number of bytes
//
int setNmeaData( )
{
char buff[256];
int year = myGPS.getYear();
int month = myGPS.getMonth();
int day = myGPS.getDay();
int hour = myGPS.getHour();
int minute = myGPS.getMinute();
int sec = myGPS.getSecond();
int msec = myGPS.getMillisecond();
int dmy = day * 10000 + month * 100 + ( year - 2000 );
double hms = hour * 10000 + minute * 100 + sec + msec / 1000.0;
double lat = myGPS.getLatitude() / E7;
double lon = myGPS.getLongitude() / E7;
double alt = myGPS.getAltitude() / E3;
double altMSL = myGPS.getAltitudeMSL() / E3;
double geoid = alt - altMSL;
int fixType = myGPS.getFixType(); //0=no fix, 1=dead reckoning, 2=2D, 3=3D, 4=GNSS, 5=Time fix
int rtk = myGPS.getCarrierSolutionType(); //0=No solution, 1=Float solution, 2=Fixed solution
int fixGGA = 0;
if ( rtk > 0 ){
switch ( rtk ){
case 1: fixGGA = 5; break;
case 2: fixGGA = 4; break;
}
}
else{
switch ( fixType ){
case 1: fixGGA = 6; break;
case 2: fixGGA = 1; break;
case 3: fixGGA = 1; break;
case 4: fixGGA = 1; break;
}
}
double speed = mmsec2knots( myGPS.getGroundSpeed() ); // knots
double heading = myGPS.getHeading() / E7;
int numSats = myGPS.getSIV();
double pdop = myGPS.getPDOP();
// RMC
sprintf( buff, "$GPRMC,%06.2lf,A,%.5lf,N,%.5lf,E,%.3lf,%.1lf,%d,,",
hms, deg2degmin(lat), deg2degmin(lon), speed, heading, dmy );
unsigned char csum = checksumOf( buff + 1, strlen( buff ) - 1 );
sprintf( buff + strlen( buff ), "*%02x\r\n", csum );
strcpy( saveBuff, buff );
//GGA
sprintf( buff, "$GPGGA,%06.2lf,%.5lf,N,%.5lf,E,%d,%d,%.1lf,%.3lf,M,%.3lf,,",
hms, deg2degmin(lat), deg2degmin(lon), fixGGA, numSats, pdop, altMSL, geoid );
csum = checksumOf( buff + 1, strlen( buff ) - 1 );
sprintf( buff + strlen( buff ), "*%02x\r\n", csum );
strcat( saveBuff, buff );
return strlen(saveBuff);
}
double mmsec2knots( double mm )
{
return ( mm / 514.444 );
}
double deg2degmin( double degree )
{
int deg = (int)degree;
double min = (degree - deg) * 60;
double degmin = deg * 100 + min;
return degmin;
}
int sdSave( char *fileName, char *buff, int numBytes )
{
fd = SD.open(fileName, FILE_APPEND);
if (! fd) return -1;
int nret = fd.write( ( unsigned char *) buff, numBytes );
if ( nret != numBytes ) nret = -2;
fd.close();
return nret;
}
// return Checksum
//
unsigned char checksumOf( char* pbuff, int NumOfBytes )
{
int i;
unsigned char *buff;
buff = (unsigned char*) pbuff;
unsigned char c = *buff++;
for ( i = 1; i < NumOfBytes; i++ ) c = c ^ *buff++ ;
return c;
}