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Add callbacks for RTCM 1005 and 1006 Input #23

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Merged
merged 1 commit into from
May 7, 2023
Merged

Add callbacks for RTCM 1005 and 1006 Input #23

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107 changes: 59 additions & 48 deletions ...D-F9P/Example17_NTRIPClient_With_GGA_Callback/Example17_NTRIPClient_With_GGA_Callback.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,62 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

// Callback: printRTCMdata1005 will be called when new RTCM 1005 data has been parsed from pushRawData
// See u-blox_structs.h for the full definition of RTCM_1005_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRTCM1005InputcallbackPtr
// / _____ This _must_ be RTCM_1005_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRTCMdata1005(RTCM_1005_data_t *rtcmData1005)
{
double x = rtcmData1005->AntennaReferencePointECEFX;
x /= 10000.0; // Convert to m
double y = rtcmData1005->AntennaReferencePointECEFY;
y /= 10000.0; // Convert to m
double z = rtcmData1005->AntennaReferencePointECEFZ;
z /= 10000.0; // Convert to m

Serial.print(F("NTRIP Server RTCM 1005: ARP ECEF-X: "));
Serial.print(x, 4); // 4 decimal places
Serial.print(F(" Y: "));
Serial.print(y, 4); // 4 decimal places
Serial.print(F(" Z: "));
Serial.println(z, 4); // 4 decimal places
}

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

// Callback: printRTCMdata1006 will be called when new RTCM 1006 data has been parsed from pushRawData
// See u-blox_structs.h for the full definition of RTCM_1006_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setRTCM1006InputcallbackPtr
// / _____ This _must_ be RTCM_1006_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printRTCMdata1006(RTCM_1006_data_t *rtcmData1006)
{
double x = rtcmData1006->AntennaReferencePointECEFX;
x /= 10000.0; // Convert to m
double y = rtcmData1006->AntennaReferencePointECEFY;
y /= 10000.0; // Convert to m
double z = rtcmData1006->AntennaReferencePointECEFZ;
z /= 10000.0; // Convert to m
double h = rtcmData1006->AntennaHeight;
h /= 10000.0; // Convert to m

Serial.print(F("NTRIP Server RTCM 1006: ARP ECEF-X: "));
Serial.print(x, 4); // 4 decimal places
Serial.print(F(" Y: "));
Serial.print(y, 4); // 4 decimal places
Serial.print(F(" Z: "));
Serial.print(z, 4); // 4 decimal places
Serial.print(F(" Height: "));
Serial.println(h, 4); // 4 decimal places
}

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

void setup()
{
delay(1000);
Expand Down Expand Up @@ -176,6 +232,9 @@ void setup()

myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed

myGNSS.setRTCM1005InputcallbackPtr(&printRTCMdata1005); // Set up a callback to print the RTCM 1005 Antenna Reference Position from the correction data
myGNSS.setRTCM1006InputcallbackPtr(&printRTCMdata1006); // Set up a callback to print the RTCM 1006 Antenna Reference Position from the correction data

//myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Expand Down Expand Up @@ -230,54 +289,6 @@ void loop()

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

// Check if the library has been able to extract the Antenna Reference Position from an RTCM 1005 message

RTCM_1005_data_t rtcmData1005;

if (myGNSS.getLatestRTCM1005Input(&rtcmData1005) == 2) // RTCM 1005 data received? 0 = no data, 1 = stale data, 2 = fresh data
{
double x = rtcmData1005.AntennaReferencePointECEFX;
x /= 10000.0; // Convert to m
double y = rtcmData1005.AntennaReferencePointECEFY;
y /= 10000.0; // Convert to m
double z = rtcmData1005.AntennaReferencePointECEFZ;
z /= 10000.0; // Convert to m

Serial.print(F("NTRIP Server RTCM 1005: ARP ECEF-X: "));
Serial.print(x, 4); // 4 decimal places
Serial.print(F(" Y: "));
Serial.print(y, 4); // 4 decimal places
Serial.print(F(" Z: "));
Serial.println(z, 4); // 4 decimal places
}

// Check if the library has been able to extract the Antenna Reference Position from an RTCM 1006 message

RTCM_1006_data_t rtcmData1006;

if (myGNSS.getLatestRTCM1006Input(&rtcmData1006) == 2) // RTCM 1006 data received? 0 = no data, 1 = stale data, 2 = fresh data
{
double x = rtcmData1006.AntennaReferencePointECEFX;
x /= 10000.0; // Convert to m
double y = rtcmData1006.AntennaReferencePointECEFY;
y /= 10000.0; // Convert to m
double z = rtcmData1006.AntennaReferencePointECEFZ;
z /= 10000.0; // Convert to m
double h = rtcmData1006.AntennaHeight;
h /= 10000.0; // Convert to m

Serial.print(F("NTRIP Server RTCM 1006: ARP ECEF-X: "));
Serial.print(x, 4); // 4 decimal places
Serial.print(F(" Y: "));
Serial.print(y, 4); // 4 decimal places
Serial.print(F(" Z: "));
Serial.print(z, 4); // 4 decimal places
Serial.print(F(" Height: "));
Serial.println(h, 4); // 4 decimal places
}

//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

switch (state)
{
case open_connection:
Expand Down
2 changes: 2 additions & 0 deletions keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -726,7 +726,9 @@ crc24q KEYWORD2
getLatestRTCM1005 KEYWORD2
setRTCM1005callbackPtr KEYWORD2
getLatestRTCM1005Input KEYWORD2
setRTCM1005InputcallbackPtr KEYWORD2
getLatestRTCM1006Input KEYWORD2
setRTCM1006InputcallbackPtr KEYWORD2
extractRTCM1005 KEYWORD2
extractRTCM1006 KEYWORD2

Expand Down
2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS v3
version=3.0.11
version=3.0.12
author=SparkFun Electronics <[email protected]>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>
Expand Down
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