v2.2.7

examples/AssistNow/AssistNow_Online/Example5_AssistNowOnline_MQTT/Example5_AssistNowOnline_MQTT.ino

@@ -93,27 +93,43 @@ void loop()
 WiFiClientSecure wifiClient = WiFiClientSecure();
 MqttClient mqttClient(wifiClient);
 
-void mqttMessageHandler(int messageSize) {
-  uint8_t mgaData[512 * 4]; //Most incoming data is around 500 bytes but may be larger
-  int mgaCount = 0;
-  Serial.print(F("Pushed data from "));
+void mqttMessageHandler(int messageSize)
+{
+  const uint16_t mqttLimit = 512;
+  uint8_t *mqttData = new uint8_t[mqttLimit]; // Allocate memory to hold the MQTT data
+  if (mqttData == NULL)
+  {
+    Serial.println(F("Memory allocation for mqttData failed!"));
+    return;
+  }
+
+  Serial.print(F("Pushing 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
-    mgaData[mgaCount++] = ch;
-    if (mgaCount == sizeof(mgaData)) 
-      break;
-  }
+    uint16_t mqttCount = 0;
 
-  if (mgaCount > 0)
-  {
-    //Push MGA data to GNSS module over I2C
-    myGNSS.pushRawData(mgaData, mgaCount, false);
-    lastReceived_ms = millis();
+    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
+      mqttData[mqttCount++] = ch;
+
+      if (mqttCount == mqttLimit)
+        break;
+    }
+
+    if (mqttCount > 0)
+    {
+      //Push KEYS or SPARTN data to GNSS module over I2C
+      myGNSS.pushRawData(mqttData, mqttCount, false);
+      lastReceived_ms = millis();
+    }
   }
+
+  delete[] mqttData;
 }
 
 //Connect to MQTT broker, receive MGA, and push to ZED module over I2C

examples/Example30_NEO-D9S/Example30_NEO-D9S.ino

@@ -10,7 +10,7 @@
   Feel like supporting open source hardware?
   Buy a board from SparkFun!
   ZED-F9P RTK2: https://www.sparkfun.com/products/16481
-  NEO-D9S: Coming soon!
+  NEO-D9S Correction Data Receiver: https://www.sparkfun.com/products/19390
 
   Hardware Connections:
   Use a Qwiic cable to connect the NEO-D9S L-Band corection data receiver to your board

examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino

@@ -36,6 +36,7 @@
   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> // Click here to get the library: http://librarymanager/All#ArduinoMqttClient
@@ -44,10 +45,137 @@
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
 SFE_UBLOX_GNSS myGNSS;
 
-//Global variables
+#define OK(ok) (ok ? F("  ->  OK") : F("  ->  ERROR!")) // Convert uint8_t into OK/ERROR
+
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//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
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+// Callback: printPVTdata will be called when new NAV PVT data arrives
+// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setAutoPVTcallbackPtr
+//        /                  _____  This _must_ be UBX_NAV_PVT_data_t
+//        |                 /               _____ You can use any name you like for the struct
+//        |                 |              /
+//        |                 |              |
+void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
+{
+  double latitude = ubxDataStruct->lat; // Print the latitude
+  Serial.print(F("Lat: "));
+  Serial.print(latitude / 10000000.0, 7);
+
+  double longitude = ubxDataStruct->lon; // Print the longitude
+  Serial.print(F("  Long: "));
+  Serial.print(longitude / 10000000.0, 7);
+
+  double altitude = ubxDataStruct->hMSL; // Print the height above mean sea level
+  Serial.print(F("  Height: "));
+  Serial.print(altitude / 1000.0, 3);
+
+  uint8_t fixType = ubxDataStruct->fixType; // Print the fix type
+  Serial.print(F("  Fix: "));
+  Serial.print(fixType);
+  if (fixType == 0)
+    Serial.print(F(" (None)"));
+  else if (fixType == 1)
+    Serial.print(F(" (Dead Reckoning)"));
+  else if (fixType == 2)
+    Serial.print(F(" (2D)"));
+  else if (fixType == 3)
+    Serial.print(F(" (3D)"));
+  else if (fixType == 3)
+    Serial.print(F(" (GNSS + Dead Reckoning)"));
+  else if (fixType == 5)
+    Serial.print(F(" (Time Only)"));
+  else
+    Serial.print(F(" (UNKNOWN)"));
+
+  uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; // Print the carrier solution
+  Serial.print(F("  Carrier Solution: "));
+  Serial.print(carrSoln);
+  if (carrSoln == 0)
+    Serial.print(F(" (None)"));
+  else if (carrSoln == 1)
+    Serial.print(F(" (Floating)"));
+  else if (carrSoln == 2)
+    Serial.print(F(" (Fixed)"));
+  else
+    Serial.print(F(" (UNKNOWN)"));
+
+  uint32_t hAcc = ubxDataStruct->hAcc; // Print the horizontal accuracy estimate
+  Serial.print(F("  Horizontal Accuracy Estimate: "));
+  Serial.print(hAcc);
+  Serial.print(F(" (mm)"));
+
+  Serial.println();    
+}
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+// Callback: printRXMCOR will be called when new RXM COR data arrives
+// See u-blox_structs.h for the full definition of UBX_RXM_COR_data_t
+//         _____  You can use any name you like for the callback. Use the same name when you call setRXMCORcallbackPtr
+//        /                  _____  This _must_ be UBX_RXM_COR_data_t
+//        |                 /               _____ You can use any name you like for the struct
+//        |                 |              /
+//        |                 |              |
+void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
+{
+  Serial.print(F("UBX-RXM-COR:  ebno: "));
+  Serial.print(ubxDataStruct->ebno);
+
+  Serial.print(F("  protocol: "));
+  if (ubxDataStruct->statusInfo.bits.protocol == 1)
+    Serial.print(F("RTCM3"));
+  else if (ubxDataStruct->statusInfo.bits.protocol == 2)
+    Serial.print(F("SPARTN"));
+  else if (ubxDataStruct->statusInfo.bits.protocol == 29)
+    Serial.print(F("PMP (SPARTN)"));
+  else if (ubxDataStruct->statusInfo.bits.protocol == 30)
+    Serial.print(F("QZSSL6"));
+  else
+    Serial.print(F("Unknown"));
+
+  Serial.print(F("  errStatus: "));
+  if (ubxDataStruct->statusInfo.bits.errStatus == 1)
+    Serial.print(F("Error-free"));
+  else if (ubxDataStruct->statusInfo.bits.errStatus == 2)
+    Serial.print(F("Erroneous"));
+  else
+    Serial.print(F("Unknown"));
+
+  Serial.print(F("  msgUsed: "));
+  if (ubxDataStruct->statusInfo.bits.msgUsed == 1)
+    Serial.print(F("Not used"));
+  else if (ubxDataStruct->statusInfo.bits.msgUsed == 2)
+    Serial.print(F("Used"));
+  else
+    Serial.print(F("Unknown"));
+
+  Serial.print(F("  msgEncrypted: "));
+  if (ubxDataStruct->statusInfo.bits.msgEncrypted == 1)
+    Serial.print(F("Not encrypted"));
+  else if (ubxDataStruct->statusInfo.bits.msgEncrypted == 2)
+    Serial.print(F("Encrypted"));
+  else
+    Serial.print(F("Unknown"));
+
+  Serial.print(F("  msgDecrypted: "));
+  if (ubxDataStruct->statusInfo.bits.msgDecrypted == 1)
+    Serial.print(F("Not decrypted"));
+  else if (ubxDataStruct->statusInfo.bits.msgDecrypted == 2)
+    Serial.print(F("Successfully decrypted"));
+  else
+    Serial.print(F("Unknown"));
+
+  Serial.println();
+}
+
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 void setup()
@@ -58,17 +186,32 @@ void setup()
 
   Wire.begin(); //Start I2C
 
-  if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
+  //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
+
+  while (myGNSS.begin() == false) //Connect to the u-blox 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 GNSS module not detected at default I2C address. Please check wiring."));
+    delay(2000);
   }
-
-  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.println(F("u-blox GNSS module connected"));
+
+  uint8_t ok = myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
+  if (ok) ok = myGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_SPARTN); // Be sure SPARTN input is enabled.
+
+  if (ok) ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
+  if (ok) ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
+  if (ok) ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 0); // Use IP source (default). Change this to 1 for L-Band (PMP)
+
+  if (ok) ok = myGNSS.setAutoPVTcallbackPtr(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata so we can watch the carrier solution go to fixed
+
+  if (ok) ok = myGNSS.setVal8(UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C, 1); // Enable UBX-RXM-COR messages on I2C
+  if (ok) ok = myGNSS.setRXMCORcallbackPtr(&printRXMCOR); // Print the contents of UBX-RXM-COR messages so we can check if the SPARTN data is being decrypted successfully
+
+  //if (ok) ok = myGNSS.saveConfiguration(VAL_CFG_SUBSEC_IOPORT | VAL_CFG_SUBSEC_MSGCONF); //Optional: Save the ioPort and message settings to NVM
+
+  Serial.print(F("GNSS: configuration "));
+  Serial.println(OK(ok));
+
   Serial.print(F("Connecting to local WiFi"));
   WiFi.begin(ssid, password);
   while (WiFi.status() != WL_CONNECTED) {
@@ -81,45 +224,66 @@ void setup()
   Serial.println(WiFi.localIP());
 
   while (Serial.available()) Serial.read();
+
+  Serial.println(F("Press any key to start MQTT/SPARTN Client."));
+
 }
 
 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."));
   }
 
-  Serial.println(F("Press any key to start MQTT/SPARTN Client."));
-
-  delay(1000);
+  myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
+  myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
 }
 
 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 "));
+void mqttMessageHandler(int messageSize)
+{
+  const uint16_t mqttLimit = 512;
+  uint8_t *mqttData = new uint8_t[mqttLimit]; // Allocate memory to hold the MQTT data
+  if (mqttData == NULL)
+  {
+    Serial.println(F("Memory allocation for mqttData failed!"));
+    return;
+  }
+
+  Serial.print(F("Pushing 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;
-  }
+    uint16_t mqttCount = 0;
 
-  if (spartnCount > 0)
-  {
-    //Push KEYS or SPARTN data to GNSS module over I2C
-    myGNSS.pushRawData(spartnData, spartnCount, false);
-    lastReceived_ms = millis();
+    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
+      mqttData[mqttCount++] = ch;
+
+      if (mqttCount == mqttLimit)
+        break;
+    }
+
+    if (mqttCount > 0)
+    {
+      //Push KEYS or SPARTN data to GNSS module over I2C
+      myGNSS.pushRawData(mqttData, mqttCount, false);
+      lastReceived_ms = millis();
+    }
   }
+
+  delete[] mqttData;
 }
 
 //Connect to STARTN MQTT broker, receive RTCM, and push to ZED module over I2C
@@ -153,12 +317,14 @@ void beginClient()
         mqttClient.onMessage(mqttMessageHandler);
         mqttClient.subscribe(MQTT_TOPIC_KEY);
         mqttClient.subscribe(MQTT_TOPIC_SPARTN);
+        mqttClient.subscribe(MQTT_TOPIC_ASSISTNOW);
         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)
     {
@@ -168,6 +334,9 @@ void beginClient()
       return;
     }
 
+    myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
+    myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.
+
     delay(10);
   }
 

examples/ZED-F9P/Example18_PointPerfectClient/secrets.h

@@ -5,15 +5,19 @@ const char password[] =  "<YOUR PASSWORD>";
 // Below infomation you can set after signing up with u-blox Thingstream portal 
 // and after add a new New PointPerfect Thing
 // https://portal.thingstream.io/app/location-services/things
-// in the new PointPerfect Thing you go to the credentials page and copy past the values and certificate into this.  
+// in the new PointPerfect Thing you go to the credentials page and copy paste the values and certificate into this.  
 
 // <Your PointPerfect Thing> -> Credentials -> Hostname
 const char AWS_IOT_ENDPOINT[]       = "pp.services.u-blox.com";
 const unsigned short AWS_IOT_PORT   = 8883;
 // <Your PointPerfect Thing> -> Credentials -> IP key distribution topic
-const char MQTT_TOPIC_KEY[]        = "/pp/key/ip";
+const char MQTT_TOPIC_KEY[]        = "/pp/ubx/0236/ip"; // This topic provides the IP only dynamic keys in UBX format
+//const char MQTT_TOPIC_KEY[]        = "/pp/ubx/0236/Lb"; // This topic provides the L-Band + IP dynamic keys in UBX format
 // <Your PointPerfect Thing> -> Credentials -> IP correction topic for EU/US region
-const char MQTT_TOPIC_SPARTN[]     = "/pp/ip/us"; // choice of {eu, us}
+const char MQTT_TOPIC_SPARTN[]     = "/pp/ip/us"; // This topic provides the SPARTN corrections for IP only: choice of {eu, us}
+//const char MQTT_TOPIC_SPARTN[]     = "/pp/Lb/us"; // This topic provides the SPARTN corrections for L-Band and L-Band + IP: choice of {eu, us}
+// <Your PointPerfect Thing> -> Credentials -> AssistNow (MGA) topic
+const char MQTT_TOPIC_ASSISTNOW[]     = "/pp/ubx/mga";
 
 // <Your PointPerfect Thing> -> Credentials -> Client Id
 static const char MQTT_CLIENT_ID[] = "<ADD YOUR CLIENT ID HERE>";