Create Example18_PointPerfectClient.ino

Author: mazgch

examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino

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+/*
+  Use ESP32 WiFi to get SPARTN data from PointPerfect (broker) as a Client
+  By: u-blox AG / Michael Ammann
+  Date: January 27th, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to obtain SPARTN data from a PointPerfect Broker over WiFi
+  and push it over I2C to a ZED-F9x.
+  It's confusing, but the Arduino is acting as a 'client' to the PointPerfect SSR correction service.
+
+  You will need to have a valid u-blox Thingstream account and have a PointPerfect Thinng and Plan. 
+  Thingstream offers continetal SSR corrections to SPARTN cabalble RTK receivers such as the u-blox 
+  ZED-F9 sweries in continental Europ and US. There Network is planned to be expanded to ther regions 
+  over next years. To see sign up go to https://portal.thingstream.io/app/location-services/things
+
+  This is a proof of concept to show how to connect via MQTT to get SPARTN SSR correction. 
+  Using WiFi for a rover is generally a bad idea because of limited WiFi range in the field.
+
+  For more information about MQTT, SPARTN and PointPerfect Correction Services 
+  please see: https://www.u-blox.com/en/product/pointperfect?lang=de
+  
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/16481
+  RTK Surveyor: https://www.sparkfun.com/products/18443
+  RTK Express: https://www.sparkfun.com/products/18442
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+#include <WiFi.h>
+#include <WiFiClientSecure.h>
+#include <ArduinoMqttClient.h>  
+#include "secrets.h"
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+    
+//Global variables
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+long lastReceived_ms = 0; //5 RTCM messages take approximately ~300ms to arrive at 115200bps
+int maxTimeBeforeHangup_ms = 10000; //If we fail to get a complete RTCM frame after 10s, then disconnect from caster
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial);
+  Serial.println(F("PointPerfect testing"));
+  
+  Wire.begin(); //Start I2C
+  Wire.setClock(100000);
+
+  if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+ 
+  Serial.println(F("u-blox module connected"));
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
+  myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_SPARTN); // Be sure SPARTN input is enabled.
+   
+  myGNSS.setNavigationFrequency(1); //Set output in Hz.
+  Serial.print(F("Connecting to local WiFi"));
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(F("."));
+  }
+  Serial.println();
+
+  Serial.print(F("WiFi connected with IP: "));
+  Serial.println(WiFi.localIP());
+  
+  while (Serial.available()) Serial.read();
+}
+
+void loop()
+{
+  if (Serial.available())
+  {
+    beginClient();
+    while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+  }
+
+  Serial.println(F("Press any key to start MQTT/SPARTN Client."));
+
+  delay(1000);
+}
+
+WiFiClientSecure wifiClient = WiFiClientSecure();
+MqttClient mqttClient(wifiClient);
+
+void mqttMessageHandler(int messageSize) {
+  uint8_t spartnData[512 * 4]; //Most incoming data is around 500 bytes but may be larger
+  int spartnCount = 0;
+  Serial.print(F("Pushed data from "));
+  Serial.print(mqttClient.messageTopic());
+  Serial.println(F(" topic to ZED"));
+  while (mqttClient.available())
+  {
+    char ch = mqttClient.read();
+    //Serial.write(ch); //Pipe to serial port is fine but beware, it's a lot of binary data
+    spartnData[spartnCount++] = ch;
+    if (spartnCount == sizeof(spartnData)) 
+      break;
+  }
+
+  if (spartnCount > 0)
+  {
+    //Push KEYS or SPARTN data to GNSS module over I2C
+    myGNSS.pushRawData(spartnData, spartnCount, false);
+    lastReceived_ms = millis();
+  }
+}
+
+//Connect to STARTN MQTT broker, receive RTCM, and push to ZED module over I2C
+void beginClient()
+{
+  Serial.println(F("Subscribing to Broker. Press key to stop"));
+  delay(10); //Wait for any serial to arrive
+  while (Serial.available()) Serial.read(); //Flush
+
+  while (Serial.available() == 0)
+  {
+    //Connect if we are not already
+    if (wifiClient.connected() == false)
+    {
+      // Connect to AWS IoT
+      wifiClient.setCACert(AWS_CERT_CA);
+      wifiClient.setCertificate(AWS_CERT_CRT);
+      wifiClient.setPrivateKey(AWS_CERT_PRIVATE);
+      if (!mqttClient.connect(AWS_IOT_ENDPOINT, AWS_IOT_PORT)) {
+        Serial.print(F("MQTT connection failed! Error code = "));
+        Serial.println(mqttClient.connectError());
+        return;
+      } else {
+        Serial.println(F("You're connected to the PointPerfect MQTT broker: "));
+        Serial.println(AWS_IOT_ENDPOINT);
+        // Subscribe to MQTT and register a callback
+        Serial.println(F("Subscribe to Topics")); 
+        mqttClient.onMessage(mqttMessageHandler);
+        mqttClient.subscribe(MQTT_TOPIC_KEY);
+        mqttClient.subscribe(MQTT_TOPIC_SPARTN);
+        lastReceived_ms = millis();
+      } //End attempt to connect
+    } //End connected == false
+    else {
+      mqttClient.poll();
+    }
+    //Close socket if we don't have new data for 10s
+    if (millis() - lastReceived_ms > maxTimeBeforeHangup_ms)
+    {
+      Serial.println(F("SPARTN timeout. Disconnecting..."));
+      if (mqttClient.connected() == true)
+        mqttClient.stop();
+      return;
+    }
+
+    delay(10);
+  }
+
+  Serial.println(F("User pressed a key"));
+  Serial.println(F("Disconnecting..."));
+  wifiClient.stop();
+}