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Add NTRIP Server example using UART for harvesting
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‎Firmware/Test Sketches/NTRIP_Server/NTRIP_Server.ino‎

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/*
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Push RTCM data to RTK2Go
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RTCM will come in over UART1 from ZED into ESP32
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ESP32 will read UART1 and then push over WiFi to RTK2Go
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For testing, the ZED is manually configured for:
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Permanent base location (immediate RTCM output)
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UART1 is enabled for RTCM output
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Sentences for RTCM are enabled for UART1
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Reduce fixes to 1Hz
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The I2C library won't see the UART1 RTCM bytes
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*/
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const int FIRMWARE_VERSION_MAJOR = 1;
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const int FIRMWARE_VERSION_MINOR = 1;
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#define RTK_IDENTIFIER (FIRMWARE_VERSION_MAJOR * 0x10 + FIRMWARE_VERSION_MINOR)
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#include <WiFi.h>
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#include "secrets.h"
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//Hardware serial buffers
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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HardwareSerial GPS(2);
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#define RXD2 16
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#define TXD2 17
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#define SERIAL_SIZE_RX 16384 //Using a large buffer. This might be much bigger than needed but the ESP32 has enough RAM
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uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading F9P
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//uint8_t wBuffer[SERIAL_SIZE_RX]; //Buffer for writing to F9P
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//GNSS configuration
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#define MAX_PAYLOAD_SIZE 384 // Override MAX_PAYLOAD_SIZE for getModuleInfo which can return up to 348 bytes
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#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//Connection settings to RTK2Go NTRIP Caster
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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const uint16_t casterPort = 2101;
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const char * casterHost = "rtk2go.com";
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const char * ntrip_server_name = "SparkFun_RTK_Surveyor";
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#define TOCAST_BUFFER_SIZE 512 * 4 //RTCM updates are ~300 bytes but can vary in size
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char toCastBuffer[TOCAST_BUFFER_SIZE];
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int castSpot = 0; //Tracks next available spot in cast buffer
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bool toCastFrameComplete = false;
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bool toCastFrameStale = false;
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long lastReceivedRTCM_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
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long lastReceivedCastFrame_ms = 0; //Time of last complete frame
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int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
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uint32_t serverBytesSent = 0; //Just a running total
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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Serial.begin(115200);
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Serial.println("NTRIP testing");
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GPS.begin(115200); //The ZED-F9P will be configured to output RTCM over its UART1 at 115200bps into the ESP32.
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GPS.setRxBufferSize(SERIAL_SIZE_RX);
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GPS.setTimeout(1);
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Wire.begin(); //Start I2C
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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Serial.println(F("u-blox module connected"));
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Serial.print("Connecting to local WiFi");
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WiFi.begin(ssid, password);
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(".");
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}
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Serial.print("\nWiFi connected with IP: ");
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Serial.println(WiFi.localIP());
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//Start the tasks for handling incoming and outgoing BT bytes to/from ZED-F9P
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xTaskCreate(F9PSerialReadTask, "F9Read", 10000, NULL, 0, NULL);
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//xTaskCreate(F9PSerialWriteTask, "F9Write", 10000, NULL, 0, NULL);
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}
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void loop()
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{
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if (Serial.available()) menuMain(); //Present user menu
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myGPS.checkUblox(); //See if new data is available. Process bytes as they come in.
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delay(10);
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}

‎Firmware/Test Sketches/NTRIP_Server/menuMain.ino‎

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//Base status goes from Rover-Mode (LED off), surveying in (blinking), to survey is complete/trasmitting RTCM (solid)
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typedef enum
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{
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BASE_OFF = 0,
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BASE_SURVEYING_IN_NOTSTARTED, //User has indicated base, but current pos accuracy is too low
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BASE_SURVEYING_IN_SLOW,
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BASE_SURVEYING_IN_FAST,
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BASE_TRANSMITTING,
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} BaseState;
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void menuMain()
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{
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while (1)
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{
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Serial.println();
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Serial.println("Menu:");
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Serial.println("1) Connect to RTK2GO");
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byte incoming = getByteChoice(30); //Timeout after x seconds
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if (incoming == '1')
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{
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Serial.println("Xmit to RTK2Go. Press key to stop");
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delay(10); //Wait for any serial to arrive
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while (Serial.available()) Serial.read(); //Flush
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WiFiClient client;
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while (Serial.available() == 0)
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{
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//Spin until we have a frame ready
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//Serial.print("Getting frame");
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while (toCastFrameStale == true)
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{
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//Serial.print(".");
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delay(100);
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}
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//Connect if we are not already
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if (client.connected() == false)
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{
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Serial.printf("Opening socket to %s\n", casterHost);
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if (client.connect(casterHost, casterPort) == true) //Attempt connection
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{
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Serial.printf("Connected to %s:%d\n", casterHost, casterPort);
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const int SERVER_BUFFER_SIZE = 512;
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char serverBuffer[SERVER_BUFFER_SIZE];
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snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP %s/v%d.%d\r\n\r\n",
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mntpnt_pw, mntpnt, ntrip_server_name, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
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Serial.printf("Sending credentials:\n%s\n", serverBuffer);
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client.write(serverBuffer, strlen(serverBuffer));
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//Wait for response
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unsigned long timeout = millis();
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while (client.available() == 0)
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{
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if (millis() - timeout > 5000)
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{
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Serial.println(">>> Client Timeout !");
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client.stop();
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return;
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}
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delay(10);
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}
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//Check reply
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bool connectionSuccess = false;
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char response[512];
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int responseSpot = 0;
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while (client.available())
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{
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response[responseSpot++] = client.read();
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if (strstr(response, "200") > 0) //Look for 'ICY 200 OK'
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connectionSuccess = true;
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if (responseSpot == 512 - 1) break;
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}
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response[responseSpot] = '\0';
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//Serial.printf("RTK2Go response: %s", response);
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if (connectionSuccess == false)
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{
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Serial.printf("Failed to connect to RTK2Go: %s", response);
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}
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} //End attempt to connect
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else
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{
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Serial.println("Connection to host failed");
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}
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} //End connected == false
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if (client.connected() == true)
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{
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//We are already connected so now push RTCM frame
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client.write(toCastBuffer, castSpot);
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serverBytesSent += castSpot;
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toCastFrameStale = true;
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Serial.printf("Sent: %d / Total sent: %d\n", castSpot, serverBytesSent);
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}
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//Close socket if we don't have new data for 10s
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if (millis() - lastReceivedCastFrame_ms > maxTimeBeforeHangup_ms)
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{
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Serial.println("RTCM timeout. Disconnecting...");
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client.stop();
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}
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delay(10);
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}
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Serial.println("User pressed a key");
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Serial.println("Disconnecting...");
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client.stop();
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}
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else if (incoming == '2')
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{
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Serial.println("Hi");
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}
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else if (incoming == 0xFF)
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break;
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else
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{
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Serial.printf("Unknown: 0x%02X\n", incoming);
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}
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}
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while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
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}
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int baseState = BASE_TRANSMITTING;
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//If the ZED has any new NMEA data, pass it out over Bluetooth
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//Task for reading data from the GNSS receiver.
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void F9PSerialReadTask(void *e)
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{
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while (true)
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{
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//If we are in base transmitting mode and user wants to serve to client, check if 100ms has passed without new serial.
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//This indicates end of RTCM frame. This presumes NMEA and RAWX sentences are turned off, and 1Hz
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if (baseState == BASE_TRANSMITTING) //&& settings.serveToCaster == true)
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{
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if (toCastFrameComplete == false)
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{
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if (millis() - lastReceivedRTCM_ms > 800)
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{
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toCastFrameComplete = true;
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toCastFrameStale = false; //ntripServer() will now post buffer next socket connection
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lastReceivedCastFrame_ms = millis();
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}
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}
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}
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if (GPS.available())
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{
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auto s = GPS.readBytes(rBuffer, SERIAL_SIZE_RX);
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//If we are in base transmitting mode and user wants to serve to client, then fill toCastBuffer
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if (baseState == BASE_TRANSMITTING) //&& settings.serveToCaster == true)
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{
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if (toCastFrameComplete == true) //Start of a new frame so flush old data
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{
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castSpot = 0;
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toCastFrameComplete = false;
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}
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lastReceivedRTCM_ms = millis();
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//Append latest incoming UART bytes (should be RTCM) to outgoing cast buffer
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if (castSpot + s >= TOCAST_BUFFER_SIZE)
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{
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Serial.println("Overrun");
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for (int x = 0 ; x < TOCAST_BUFFER_SIZE ; x++)
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Serial.write(toCastBuffer[x]);
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}
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else
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{
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for (int x = 0 ; x < s ; x++)
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{
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toCastBuffer[castSpot] = rBuffer[x];
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castSpot++;
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}
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}
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}
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// else if (SerialBT.connected())
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// {
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// SerialBT.write(rBuffer, s);
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// }
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}
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taskYIELD();
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}
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}

‎Firmware/Test Sketches/NTRIP_Server/secrets.h‎

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//const char* ssid = "Rover1";
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//const char* password = "notHere1";
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const char* ssid = "TRex";
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const char* password = "parachutes";
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//const char* ssid = "Sparky";
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//const char* password = "sparkfun";
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const char* mntpnt_pw = "WR5wRo4H";
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const char* mntpnt = "bldr_dwntwn2";

‎Firmware/Test Sketches/NTRIP_Server/support.ino‎

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//Get single byte from user
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//Waits for and returns the character that the user provides
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//Returns STATUS_GETNUMBER_TIMEOUT if input times out
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//Returns 'x' if user presses 'x'
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uint8_t getByteChoice(int numberOfSeconds)
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{
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Serial.flush();
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delay(50);//Wait for any incoming chars to hit buffer
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while (Serial.available() > 0) Serial.read(); //Clear buffer
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long startTime = millis();
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byte incoming;
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while (1)
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{
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delay(10); //Yield to processor
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if (Serial.available() > 0)
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{
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incoming = Serial.read();
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// Serial.print(F("byte: 0x"));
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// Serial.println(incoming, HEX);
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if (incoming >= 'a' && incoming <= 'z') break;
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if (incoming >= 'A' && incoming <= 'Z') break;
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if (incoming >= '0' && incoming <= '9') break;
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}
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if ( (millis() - startTime) / 1000 >= numberOfSeconds)
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{
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Serial.println(F("No user input received."));
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return (-1); //Timeout. No user input.
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}
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}
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return (incoming);
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}

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