Remove RTCM parser

Author: nseidle

Firmware/RTK_Everywhere/NtripServer.ino

@@ -413,7 +413,6 @@ void ntripServerProcessRTCM(int serverIndex, uint8_t incoming)
     else if (ntripServer->state == NTRIP_SERVER_WAIT_GNSS_DATA)
     {
         ntripServerSetState(ntripServer, NTRIP_SERVER_CONNECTING);
-        rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
     }
 }
 

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -712,7 +712,6 @@ bool espnowIncomingRTCM;
 bool espnowOutgoingRTCM;
 volatile bool mqttClientDataReceived; // Flag for display
 
-static RtcmTransportState rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
 uint16_t failedParserMessages_UBX;
 uint16_t failedParserMessages_RTCM;
 uint16_t failedParserMessages_NMEA;

Firmware/RTK_Everywhere/settings.h

@@ -369,20 +369,6 @@ typedef enum
 } ESPNOWState;
 volatile ESPNOWState espnowState = ESPNOW_OFF;
 
-typedef enum
-{
-    RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3 = 0,
-    RTCM_TRANSPORT_STATE_READ_LENGTH_1,
-    RTCM_TRANSPORT_STATE_READ_LENGTH_2,
-    RTCM_TRANSPORT_STATE_READ_MESSAGE_1,
-    RTCM_TRANSPORT_STATE_READ_MESSAGE_2,
-    RTCM_TRANSPORT_STATE_READ_DATA,
-    RTCM_TRANSPORT_STATE_READ_CRC_1,
-    RTCM_TRANSPORT_STATE_READ_CRC_2,
-    RTCM_TRANSPORT_STATE_READ_CRC_3,
-    RTCM_TRANSPORT_STATE_CHECK_CRC
-} RtcmTransportState;
-
 typedef enum
 {
     BLUETOOTH_RADIO_SPP = 0,

Firmware/RTK_Everywhere/support.ino

@@ -469,122 +469,6 @@ void printTimeStamp()
     }
 }
 
-// Parse the RTCM transport data
-// Called by processRTCM in Base.ino - defines whether the data is passed to the NTRIP server
-bool checkRtcmMessage(uint8_t data)
-{
-    static uint16_t bytesRemaining;
-    static uint16_t length;
-    static uint16_t message;
-    static bool sendMessage = false;
-
-    //    RTCM Standard 10403.2 - Chapter 4, Transport Layer
-    //
-    //    |<------------- 3 bytes ------------>|<----- length ----->|<- 3 bytes ->|
-    //    |                                    |                    |             |
-    //    +----------+--------+----------------+---------+----------+-------------+
-    //    | Preamble |  Fill  | Message Length | Message |   Fill   |   CRC-24Q   |
-    //    |  8 bits  | 6 bits |    10 bits     |  n-bits | 0-7 bits |   24 bits   |
-    //    |   0xd3   | 000000 |   (in bytes)   |         |   zeros  |             |
-    //    +----------+--------+----------------+---------+----------+-------------+
-    //    |                                                         |
-    //    |<------------------------ CRC -------------------------->|
-    //
-
-    switch (rtcmParsingState)
-    {
-    // Read the upper two bits of the length
-    case RTCM_TRANSPORT_STATE_READ_LENGTH_1:
-        // Verify the length byte - check the 6 MS bits are all zero
-        if (!(data & (~3)))
-        {
-            length = data << 8;
-            rtcmParsingState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
-            break;
-        }
-
-        // Wait for the preamble byte
-        rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
-
-    // Fall through
-    //      |
-    //      |
-    //      V
-
-    // Wait for the preamble byte (0xd3)
-    case RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3:
-        sendMessage = false;
-        if (data == 0xd3)
-        {
-            rtcmParsingState = RTCM_TRANSPORT_STATE_READ_LENGTH_1;
-            sendMessage = true;
-        }
-        break;
-
-    // Read the lower 8 bits of the length
-    case RTCM_TRANSPORT_STATE_READ_LENGTH_2:
-        length |= data;
-        bytesRemaining = length;
-        rtcmParsingState = RTCM_TRANSPORT_STATE_READ_MESSAGE_1;
-        break;
-
-    // Read the upper 8 bits of the message number
-    case RTCM_TRANSPORT_STATE_READ_MESSAGE_1:
-        message = data << 4;
-        bytesRemaining -= 1;
-        rtcmParsingState = RTCM_TRANSPORT_STATE_READ_MESSAGE_2;
-        break;
-
-    // Read the lower 4 bits of the message number
-    case RTCM_TRANSPORT_STATE_READ_MESSAGE_2:
-        message |= data >> 4;
-        bytesRemaining -= 1;
-        rtcmParsingState = RTCM_TRANSPORT_STATE_READ_DATA;
-        break;
-
-    // Read the rest of the message
-    case RTCM_TRANSPORT_STATE_READ_DATA:
-        bytesRemaining -= 1;
-        if (bytesRemaining <= 0)
-            rtcmParsingState = RTCM_TRANSPORT_STATE_READ_CRC_1;
-        break;
-
-    // Read the upper 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_1:
-        rtcmParsingState = RTCM_TRANSPORT_STATE_READ_CRC_2;
-        break;
-
-    // Read the middle 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_2:
-        rtcmParsingState = RTCM_TRANSPORT_STATE_READ_CRC_3;
-        break;
-
-    // Read the lower 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_3:
-        rtcmParsingState = RTCM_TRANSPORT_STATE_CHECK_CRC;
-        break;
-
-    case RTCM_TRANSPORT_STATE_CHECK_CRC:
-        break; // Do nothing. Code below resets the state to PREAMBLE_D3
-    }
-
-    // Check the CRC. Note: this doesn't actually check the CRC!
-    if (rtcmParsingState == RTCM_TRANSPORT_STATE_CHECK_CRC)
-    {
-        rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
-
-        // Display the RTCM message header
-        if (settings.debugNtripServerRtcm && (!inMainMenu))
-        {
-            printTimeStamp();
-            systemPrintf("    Tx RTCM %d, %2d bytes\r\n", message, 3 + length + 3);
-        }
-    }
-
-    // Let the upper layer know if this message should be sent
-    return sendMessage;
-}
-
 const double WGS84_A = 6378137;           // https://geographiclib.sourceforge.io/html/Constants_8hpp_source.html
 const double WGS84_E = 0.081819190842622; // http://docs.ros.org/en/hydro/api/gps_common/html/namespacegps__common.html
                                           // and https://gist.github.com/uhho/63750c4b54c7f90f37f958cc8af0c718