Push GGA on non ZED platforms

Fix #515

Author: nseidle

Firmware/RTK_Everywhere/GNSS.ino

@@ -4,6 +4,14 @@ GNSS.ino
   GNSS layer implementation
 ------------------------------------------------------------------------------*/
 
+extern int NTRIPCLIENT_MS_BETWEEN_GGA;
+
+#ifdef COMPILE_NETWORK
+extern NetworkClient *ntripClient;
+#endif // COMPILE_NETWORK
+
+extern unsigned long lastGGAPush;
+
 //----------------------------------------
 // Setup the general configuration of the GNSS
 // Not Rover or Base specific (ie, baud rates)
@@ -46,3 +54,31 @@ bool GNSS::setMinCno(uint8_t cnoValue)
     // Pass the value to the GNSS receiver
     return gnss->setMinCnoRadio(cnoValue);
 }
+
+// Periodically push GGA sentence over NTRIP Client, to Caster, if enabled
+void pushGPGGA(char *ggaData)
+{
+#ifdef COMPILE_NETWORK
+    // Wait until the client has been created
+    if (ntripClient != nullptr)
+    {
+        // Provide the caster with our current position as needed
+        if (ntripClient->connected() && settings.ntripClient_TransmitGGA == true)
+        {
+            if (millis() - lastGGAPush > NTRIPCLIENT_MS_BETWEEN_GGA)
+            {
+                lastGGAPush = millis();
+
+                if (settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_GGA))
+                {
+                    PERIODIC_CLEAR(PD_NTRIP_CLIENT_GGA);
+                    systemPrintf("NTRIP Client pushing GGA to server: %s", (const char *)ggaData);
+                }
+
+                // Push our current GGA sentence to caster
+                ntripClient->print((const char *)ggaData);
+            }
+        }
+    }
+#endif // COMPILE_NETWORK
+}

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -6,14 +6,6 @@ GNSS_ZED.ino
 
 #ifdef COMPILE_ZED
 
-extern int NTRIPCLIENT_MS_BETWEEN_GGA;
-
-#ifdef COMPILE_NETWORK
-extern NetworkClient *ntripClient;
-#endif // COMPILE_NETWORK
-
-extern unsigned long lastGGAPush;
-
 //----------------------------------------
 // If we have decryption keys, configure module
 // Note: don't check online.lband_neo here. We could be using ip corrections
@@ -865,7 +857,7 @@ void GNSS_ZED::enableGgaForNtrip()
     {
         // Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
         _zed->setVal8(UBLOX_CFG_NMEA_MAINTALKERID, 1);
-        _zed->setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA
+        _zed->setNMEAGPGGAcallbackPtr(&zedPushGPGGA); // Set up the callback for GPGGA
 
         float measurementFrequency = (1000.0 / settings.measurementRateMs) / settings.navigationRate;
         if (measurementFrequency < 0.2)
@@ -2768,30 +2760,6 @@ void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
     }
 }
 
-// Call back for incoming GGA data to be pushed to NTRIP Caster
-void pushGPGGA(NMEA_GGA_data_t *nmeaData)
-{
-#ifdef COMPILE_NETWORK
-    // Provide the caster with our current position as needed
-    if (ntripClient->connected() && settings.ntripClient_TransmitGGA == true)
-    {
-        if (millis() - lastGGAPush > NTRIPCLIENT_MS_BETWEEN_GGA)
-        {
-            lastGGAPush = millis();
-
-            if (settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_GGA))
-            {
-                PERIODIC_CLEAR(PD_NTRIP_CLIENT_GGA);
-                systemPrintf("NTRIP Client pushing GGA to server: %s", (const char *)nmeaData->nmea);
-            }
-
-            // Push our current GGA sentence to caster
-            ntripClient->print((const char *)nmeaData->nmea);
-        }
-    }
-#endif // COMPILE_NETWORK
-}
-
 // ZED-F9x call back
 void eventTriggerReceived(UBX_TIM_TM2_data_t *ubxDataStruct)
 {
@@ -2911,4 +2879,11 @@ void inputMessageRate(uint8_t &localMessageRate, uint8_t messageNumber)
     localMessageRate = rate;
 }
 
+// Push GGA sentence over NTRIP Client, to Caster, if enabled
+// ZED uses callback, other platforms call this from processUart1Message()
+void zedPushGPGGA(NMEA_GGA_data_t *nmeaData)
+{
+    pushGPGGA((char *)nmeaData->nmea);
+}
+
 #endif // COMPILE_ZED

Firmware/RTK_Everywhere/NtripClient.ino

@@ -598,8 +598,6 @@ void ntripClientUpdate()
             // Failed to connect to to the network, attempt to restart the network
             ntripClientStop(true); // Was ntripClientRestart(); - #StopVsRestart
 
-        
-
         // If GGA transmission is enabled, wait for GNSS lock before connecting to NTRIP Caster
         // If GGA transmission is not enabled, start connecting to NTRIP Caster
         else if ((settings.ntripClient_TransmitGGA == false) || (gnss->isFixed() == true))

Firmware/RTK_Everywhere/Tasks.ino

@@ -747,6 +747,12 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
         }
     }
 
+    // Push GGA to Caster if enabled
+    if (type == RTK_NMEA_PARSER_INDEX && strstr(sempNmeaGetSentenceName(parse), "GGA") != nullptr)
+    {
+        pushGPGGA((char *)parse->buffer);
+    }
+
     // Determine if this message will fit into the ring buffer
     bytesToCopy = parse->length;
     space = availableHandlerSpace;