This script connects to a mount point on RTK2GO NTRIP caster to fetch RTCM correction data and forwards it to a GPS receiver connected via a serial port (COM6). It supports NTRIP v1 protocol, parses NMEA GPGGA sentences. For debugging it logs RTCM data.
socket, base64, serial, serial.tools.list_ports, time, threading, traceback, sys, binasciiThe script uses the following constants, defined at the top:
| ''' | |
| This program opens a serial connection to a PX1172RDP rover device (on ROVER_PORT at BAUD_RATE), continuously reads incoming | |
| data for a specified duration (RUN_DURATION), identifies message types (e.g., RTCM or various NMEA sentences), counts how many | |
| of each type are received, and then prints a summary report of the message frequencies at the end. It can optionally print the | |
| raw messages and their hexadecimal representations during data collection if PRINT_MESSAGES is enabled. | |
| ''' | |
| import serial | |
| import time | |
| from collections import defaultdict |
| ''' | |
| com6tocom10.py | |
| This is a script used for testing passing correction data over USB with two GPS units connected | |
| to one laptop. The script performs these functions: | |
| 1. Forward RTCM correction data from my Base GNSS receiver, a SkytraQ PX1125R, connected on (COM6) to a | |
| Rover GNSS receiver (COM10). | |
| 2. Monitor NMEA messages from my Rover, a Skytraq PX1172RDP, on COM10 and extract RTK Fix status | |
| from $GPGGA messages. | |
| 3. Print the RTK Fix status every 5 seconds along with the last $GPGGA message. | |
| ''' |
| #include <SPI.h> | |
| #include <RF24.h> | |
| #include <Adafruit_NeoPixel.h> | |
| // LED Definitions | |
| #define NUM_LEDS 3 | |
| #define DATA_PIN 2 | |
| #define SWITCH_PIN1 3 | |
| #define SWITCH_PIN2 4 |
| // First example - extremely simple | |
| #include <TFT_eSPI.h> // Graphics and font library for ST7735 driver chip | |
| #include <SPI.h> | |
| TFT_eSPI tft = TFT_eSPI(); // Invoke library, pins defined in User_Setup.h | |
| unsigned long displayWeightLastTime = 0; | |
| unsigned long displayWeightDelay = 1000; | |
| unsigned long currentMillis = 0; |
| /* | |
| Example code for 1.28 inch, 240*240 TFT LCD Display which uses the GC9A01 driver. The code rotates a needle | |
| around a pivot point (think compass needle). Thanks to "Volos Projects" on YouTube. | |
| Original code ref: https://github.com/VolosR/RotateSpritesTutorial/blob/main/RotateSpritesTutorial.ino | |
| YouTube ref: https://www.youtube.com/watch?v=oqBa_ptBmLU | |
| I adapted the example code for my LCD that is 240x240 and used some variables in the process | |
| */ | |
| #include <TFT_eSPI.h> |
| // Credit Adafruit example that comes with the Adafruit_GC9A01A.h library. I only wired my board | |
| // consistent with the pin definitions in lines 31-35 using a ESP32 with 30 pins (i.e. ESP-WROOM-DA Module) | |
| #include "SPI.h" | |
| #include "Adafruit_GFX.h" | |
| #include "Adafruit_GC9A01A.h" | |
| // Define pins for display interface. You'll probably need to edit this for | |
| // your own needs: |
| #include <HardwareSerial.h> | |
| #include <WiFi.h> | |
| #include <HTTPClient.h> | |
| // WiFi credentials | |
| const char* ssid = "Pixel_1"; | |
| const char* password = "Taco1234"; | |
| // Google_Deployment_ID = "AKfycbwZv_vHVI9Hw67vYj609zprKJmdVEuHyH37Mg3VCzo-2lPU9Zaz-dHLp1P7RRAgSDMb" | |
| const char* googleURLPrefix = "https://script.google.com/macros/s/AKfycbwZv_vHVI9Hw67vYj609zprKJmdVEuHyH37Mg3VCzo-2lPU9Zaz-dHLp1P7RRAgSDMb/exec"; |
| // below is the code that runs on the ESP32 | |
| #include <Wire.h> | |
| #include <Adafruit_BMP085.h> | |
| #include <OneWire.h> | |
| #include <DallasTemperature.h> | |
| #include <WiFi.h> | |
| #include <HTTPClient.h> | |
| #include "DHT.h" | |
| #include <Arduino.h> |
| /* | |
| * Calculate the error between current direction and the desired direction | |
| * convert the error to a value 0-255 to drive the Cytron motor controller connected to a steering motor. | |
| * Ref: https://www.youtube.com/channel/UCjiVhIvGmRZixSzupD0sS9Q | |
| * | |
| * Thank you Jeff Sampson for guidance and corrections | |
| */ | |
| #include <Arduino.h> |