Add EA Session support for VTG, GSA & GSV

Author: PaulZC

Firmware/RTK_Everywhere/AuthCoPro.ino

@@ -55,7 +55,12 @@ void beginAuthCoPro(TwoWire *i2cBus)
     latestGPGGA = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
     latestGPRMC = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
     latestGPGST = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
-    appleAccessory->setNMEApointers(latestGPGGA, latestGPRMC, latestGPGST);
+    latestGPVTG = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
+    appleAccessory->setNMEApointers(latestGPGGA, latestGPRMC, latestGPGST, latestGPVTG);
+
+    // Pass the pointer for additional GSA / GSV EA Session data
+    latestEASessionData = (char *)rtkMalloc(latestEASessionDataMaxLen, "AuthCoPro");
+    appleAccessory->setEASessionPointer(latestEASessionData);
 
     // Pass the transport connected and disconnect methods into the accessory driver
     appleAccessory->setTransportConnectedMethod(&transportConnected);

Firmware/RTK_Everywhere/Bluetooth.ino

@@ -54,8 +54,8 @@ TaskHandle_t bluetoothCommandTaskHandle = nullptr; // Task to monitor incoming C
 void bluetoothUpdate()
 {
 #ifdef COMPILE_BT
-    static uint32_t lastCheck = millis(); // Check if connected every 100ms
-    if (millis() > (lastCheck + 100))
+    static uint32_t lastCheck = millis(); // Check if connected every 50ms
+    if (millis() > (lastCheck + 50))
     {
         lastCheck = millis();
 
@@ -530,7 +530,7 @@ void bluetoothStart()
                 //record.service_name = (char *)sdp_service_name;
                 record.service_name_length = strlen(deviceName) + 1;
                 record.service_name = (char *)deviceName;
-                record.rfcomm_channel_number = 1;
+                //record.rfcomm_channel_number = 1;
                 esp_sdp_create_record((esp_bluetooth_sdp_record_t *)&record);
             }
         }

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -825,6 +825,9 @@ const size_t latestNmeaMaxLen = 100;
 char *latestGPGGA;
 char *latestGPRMC;
 char *latestGPGST;
+char *latestGPVTG;
+const size_t latestEASessionDataMaxLen = 4001; // 1000 * 4 plus NULL
+char *latestEASessionData;
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 

Firmware/RTK_Everywhere/Tasks.ino

@@ -813,6 +813,55 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
             else
                 systemPrintf("Increase latestNmeaMaxLen to > %d\r\n", parse->length);
         }
+        else if (strstr(sempNmeaGetSentenceName(parse), "VTG") != nullptr)
+        {
+            if (parse->length < latestNmeaMaxLen)
+            {
+                memcpy(latestGPVTG, parse->buffer, parse->length);
+                latestGPVTG[parse->length] = 0; // NULL terminate
+                if ((strlen(latestGPVTG) > 10) && (latestGPVTG[strlen(latestGPVTG) - 2] == '\r'))
+                    latestGPVTG[strlen(latestGPVTG) - 2] = 0; // Truncate the \r\n
+                forceTalkerId("P",latestGPVTG,latestNmeaMaxLen);
+            }
+            else
+                systemPrintf("Increase latestNmeaMaxLen to > %d\r\n", parse->length);
+        }
+        else if ((strstr(sempNmeaGetSentenceName(parse), "GSA") != nullptr)
+                 || (strstr(sempNmeaGetSentenceName(parse), "GSV") != nullptr))
+        {
+            // If the Apple Accessory is sending the data to the EA Session,
+            // discard this GSA / GSV. Bad things would happen if we were to
+            // manipulate latestEASessionData while appleAccessory is using it.
+            if (appleAccessory->latestEASessionDataIsBlocking() == false)
+            {
+                size_t spaceAvailable = latestEASessionDataMaxLen - strlen(latestEASessionData);
+                spaceAvailable -= 3; // Leave room for the CR, LF and NULL
+                while (spaceAvailable < parse->length) // If the buffer is full, delete the oldest message(s)
+                {
+                    const char *lfPtr = strstr(latestEASessionData, "\n"); // Find the first LF
+                    if (lfPtr == nullptr)
+                        break; // Something has gone badly wrong...
+                    lfPtr++; // Point at the byte after the LF
+                    size_t oldLen = lfPtr - latestEASessionData; // This much data is old
+                    size_t newLen = strlen(latestEASessionData) - oldLen; // This much is new (not old)
+                    for (size_t i = 0; i <= newLen; i++) // Move the new data over the old. Include the NULL
+                        latestEASessionData[i] = latestEASessionData[oldLen + i];
+                    spaceAvailable += oldLen;
+                }
+                size_t dataLen = strlen(latestEASessionData);
+                memcpy(&latestEASessionData[dataLen], parse->buffer, parse->length); // Add the new NMEA data
+                dataLen += parse->length;
+                latestEASessionData[dataLen] = 0; // NULL terminate
+                if (latestEASessionData[dataLen - 1] != '\n')
+                {
+                    latestEASessionData[dataLen] = '\r'; // Add CR
+                    latestEASessionData[dataLen + 1] = '\n'; // Add LF
+                    latestEASessionData[dataLen + 2] = 0; // NULL terminate
+                }
+            }
+            else if (settings.debugNetworkLayer)
+                systemPrintf("Discarding %d GSA/GSV bytes - latestEASessionDataIsBlocking\r\n", parse->length);
+        }
     }
 
     // Determine if this message should be processed by the Unicore library