diff --git a/libraries/ESP32_BleSerial/HOWTOGET.md b/libraries/ESP32_BleSerial/HOWTOGET.md new file mode 100644 index 0000000..43f5167 --- /dev/null +++ b/libraries/ESP32_BleSerial/HOWTOGET.md @@ -0,0 +1 @@ +https://github.com/corsinone/ESP32_BleSerial/tree/atelier_gpsrtk diff --git a/unit_tests/3c_GNSS_RTK_ble/3c_GNSS_RTK_ble.ino b/unit_tests/3c_GNSS_RTK_ble/3c_GNSS_RTK_ble.ino new file mode 100644 index 0000000..2235909 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_ble/3c_GNSS_RTK_ble.ino @@ -0,0 +1,320 @@ +/* + README + This is a modified version of the original code `rover-gnss/unit_tests/3c_GNSS_RTK` where I modified it to send the data through the BLE from the esp32 board. + Why? + The original code is the classic bluetooth profile ( SPP (Bluetooth Serial) ) which is supported only by Android, iOS does not support it. + See https://stackoverflow.com/questions/76604020/is-there-a-way-to-make-esp32-discoverable-as-a-bluetooth-device-on-a-flutter-ios + + References: + 1. https://randomnerdtutorials.com/esp32-ble-server-client/ + 2. https://randomnerdtutorials.com/esp32-bluetooth-low-energy-ble-arduino-ide/ + 3. Increase size of BLE messages --> https://www.esp32.com/viewtopic.php?t=4546 , by default is 20mb see this post + + After flashing, I used an Android phone to use the app LightBlue to read the raw data sent by the esp32 board. + + Now, I searched for an app supporting reading GNSS data over BLE. I found GNSS Master. + PS: indeed, in the original version of the code, we were using Bluetooth gnss for reading the gnss data from the esp32 board. However, this app supports only bluetooth serial! + + So switch to GNSS Master. + New problem: GNSS Master supports BLE but only the profile Serial! I need to modify the code, to change the server profile UID. + I found a library (https://github.com/avinabmalla/ESP32_BleSerial/tree/master) that provides a class BLESerial, which works in the same way as the library BluetoothSerial used in the original code. + Interestingly, in the implementation of BLESerial, the developer does the same stuff as me for the BLE server and etc., but he is using a different UID for the server. + Therefore, I moved to a new project directory named 'ble_rover' in '$HOME/Arduino/' +*/ +/* ################### + * #  LIBRARIES # + * ################### + */ +#include +#include "NTRIPClient.h" +#include +#include +#include "Secret.h" + +#include +#include +#include +#include + +// GNSS serial port +HardwareSerial MySerial(1); +#define PIN_RX 16 +#define PIN_TX 17 +#define MYSERIAL_BAUD_RATE 460800 // 115200 Works with F9P config on 2Hz ( not in 5Hz ! ) + +// BLUETOOTH Name +#define BT_NAME "ESP32_BT_GNSS_RTK" + +const char* ssid = WIFI_SSID; +const char* password = WIFI_PASSWORD; +IPAddress server(192, 168, 1, 100); // IP address of the server +int port = 80; + +char* host = NTRIP_SERVER_HOST; +int httpPort = 2101; // port 2101 is default port of NTRIP caster +char* mntpnt = NTRIP_CASTER_MOUNTPOINT; +char* user = NTRIP_USER; +char* passwd = NTRIP_PASSWORD; +bool sendGGA = true; +NTRIPClient ntrip_c; + +const char* udpAddress = "192.168.0.13"; +const int udpPort = 9999; + +int trans = 4; +// 0 = serial, 1 = udp, 2 = tcp client, 3 = MySerial, 4 = Bluetooth Choose which output you want to use. for RS232 set 0 and connect tx F9P directly to RS232 module + +WiFiUDP udp; + +// send GGA +NTRIPClient ntripClient; +String nmeaMessage = ""; +String ggaMessage = ""; + +unsigned long previousMillis = 0; // timer +unsigned long currentMillis = 0; // timer + +const long interval = 10000; // Duration between 2 GGA Sending +const long readDuration = 1000; // Duration of NMEA reading in milliseconds + +//BluetoothSerial SerialBT; + +#define bleServerName "GC_ESP32" +#define SERVICE_UUID "91bad492-b950-4226-aa2b-4ede9fa42f59" + +//1. BLECharacteristic bmeGNSSDataCharacteristics("cba1d466-344c-4be3-ab3f-189f80dd7518", BLECharacteristic::PROPERTY_NOTIFY); +//1. BLEDescriptor bmeGNSSDataDescriptor(BLEUUID((uint16_t)0x2902)); + +bool deviceConnected = false; +//Setup callbacks onConnect and onDisconnect +class MyServerCallbacks: public BLEServerCallbacks { + void onConnect(BLEServer* pServer) { + deviceConnected = true; + }; + void onDisconnect(BLEServer* pServer) { + deviceConnected = false; + } +}; + +#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8" //2. + +BLEServer *pServer; +BLEService *pService; +BLECharacteristic *pCharacteristic; + +void setup() { + // put your setup code here, to run once: + Serial.begin(115200); + delay(500); + MySerial.begin(MYSERIAL_BAUD_RATE, SERIAL_8N1, PIN_RX, PIN_TX); // serial port to send RTCM to F9P + delay(100); + Serial.print("Connecting to "); + Serial.println(ssid); + WiFi.begin(ssid, password); + + #if 0 + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + + Serial.println("WiFi connected"); + Serial.println("IP address: "); + Serial.println(WiFi.localIP()); + #endif + + /* === START -- SERVER BLE === */ + // Initialiser le Bluetooth + /* + switch (trans) { + case 4: + if (!SerialBT.begin(BT_NAME)) { + Serial.println("An error occurred initializing Bluetooth"); + } else { + Serial.println("Bluetooth initialized with name " + (String)BT_NAME); + } + break; + } + */ + + // Create the BLE Device + BLEDevice::init(bleServerName); + BLEDevice::setMTU(512); //https://www.esp32.com/viewtopic.php?t=4546 + + // Create the BLE Server + pServer = BLEDevice::createServer(); + pServer->setCallbacks(new MyServerCallbacks()); + + // Create the BLE Service + //1. BLEService *bmeService = pServer->createService(SERVICE_UUID); + + pService = pServer->createService(SERVICE_UUID); //2. + + //1. bmeService->addCharacteristic(&bmeGNSSDataCharacteristics); + //1. bmeGNSSDataDescriptor.setValue("GNSS Data"); + //1. bmeGNSSDataCharacteristics.addDescriptor(&bmeGNSSDataDescriptor); + + //2. + pCharacteristic = pService->createCharacteristic( + CHARACTERISTIC_UUID, + BLECharacteristic::PROPERTY_READ | + BLECharacteristic::PROPERTY_WRITE + ); + + pCharacteristic->setValue("Hello World!"); + + // Start the service + //1. bmeService->start(); + pService->start(); //2. + + // Start advertising + BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); + pAdvertising->addServiceUUID(SERVICE_UUID); + + //2. + pAdvertising->setScanResponse(true); + pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue + pAdvertising->setMinPreferred(0x12); + BLEDevice::startAdvertising(); + + //pServer->getAdvertising()->start(); + + Serial.println("Waiting a client connection to notify..."); + /* === END -- SERVER BLE === */ + + + #if 0 + Serial.println("Requesting SourceTable."); + if (ntrip_c.reqSrcTbl(host, httpPort)) { + char buffer[512]; + delay(5); + while (ntrip_c.available()) { + ntrip_c.readLine(buffer, sizeof(buffer)); + //Serial.print(buffer); + } + Serial.print("Requesting SourceTable is OK\n"); + + } else { + Serial.println("SourceTable request error"); + } + ntrip_c.stop(); // Need to call "stop" function for next request. + + Serial.println("Requesting MountPoint's Raw data"); + if (!ntrip_c.reqRaw(host, httpPort, mntpnt, user, passwd)) { + delay(15000); + ESP.restart(); + } + Serial.println("Requesting MountPoint is OK"); + #endif +} + +void loop() { + + #if 0 + WiFiClient client; + if (sendGGA) { + currentMillis = millis(); + if (currentMillis - previousMillis >= interval) { + previousMillis = currentMillis; + + unsigned long readStartMillis = millis(); + bool ggaFound = false; + while (millis() - readStartMillis < readDuration && !ggaFound) { + while (MySerial.available()) { + char c = MySerial.read(); + if (c == '\n' || c == '\r') { + if (nmeaMessage.startsWith("$GNGGA") || nmeaMessage.startsWith("$GPGGA")) { + // Validation du format GGA + int numFields = 0; + for (char ch : nmeaMessage) { + if (ch == ',') numFields++; + } + if (numFields == 14) { // 14 virgules attendues dans un message GGA complet + ntrip_c.setLastGGA(nmeaMessage); // Stocker le dernier message GGA reçu + Serial.println("Extracted GGA: " + nmeaMessage); // Log du message GGA extrait + ggaFound = true; // Mettre à jour le drapeau pour arrêter la lecture + break; // Sortir de la boucle intérieure + } + } + nmeaMessage = ""; + } else { + nmeaMessage += c; + } + } + } + + // Send the last GGA message stored + String lastGGA = ntrip_c.getLastGGA(); + if (lastGGA != "") { + ntrip_c.sendGGA(lastGGA.c_str(), host, httpPort, user, passwd, mntpnt); + Serial.println("Sent GGA: " + lastGGA); // Log sent GGA message + lastGGA = ""; + //Serial.println("Cleaned GGA"); + } else { + Serial.println("No GGA message to send."); + } + } + } + + while (ntrip_c.available()) { + char ch = ntrip_c.read(); + MySerial.print(ch); + } + #endif + + + while (MySerial.available()) { + String s = MySerial.readStringUntil('\n'); + switch (trans) { + case 0: // serial out + Serial.println(s); + break; + case 1: // udp out + #if 0 + udp.beginPacket(udpAddress, udpPort); + udp.print(s); + udp.endPacket(); + #endif 0 + break; + case 2: // tcp client out + #if 0 + if (!client.connect(server, port)) { + Serial.println("connection failed"); + return; + } + client.println(s); + while (client.connected()) { + while (client.available()) { + char c = client.read(); + Serial.print(c); + } + } + client.stop(); + #endif 0 + break; + case 3: // MySerial out + MySerial.println(s); + break; + case 4: //BT + //SerialBT.println(s); + if (!deviceConnected) { + Serial.println("waiting for BLE device"); + } else { + //1. uint16_t gnss_data = 34567; + //1. bmeGNSSDataCharacteristics.setValue(gnss_data); + pCharacteristic->setValue(s); + pCharacteristic->notify(); + //1. bmeGNSSDataCharacteristics.notify(); + Serial.print("Publishing gnss data | length: "); + Serial.print(s.length()); + Serial.print(", content: "); + Serial.println(s); + } + // Serial.println(s); // DEbug mode, permet de voir toutes les trames envoyées par le F9P + break; + default: // mauvaise config + Serial.println("mauvais choix ou oubli de configuration"); + break; + } + } +} diff --git a/unit_tests/3c_GNSS_RTK_ble/CHANGES.md b/unit_tests/3c_GNSS_RTK_ble/CHANGES.md new file mode 100644 index 0000000..3a49869 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_ble/CHANGES.md @@ -0,0 +1 @@ +See [3c_GNSS_RTK_bleserial/CHANGES.md](../3c_GNSS_RTK_bleserial/CHANGES.md). diff --git a/unit_tests/3c_GNSS_RTK_ble/LICENSE b/unit_tests/3c_GNSS_RTK_ble/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_ble/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/unit_tests/3c_GNSS_RTK_ble/README.md b/unit_tests/3c_GNSS_RTK_ble/README.md new file mode 100644 index 0000000..54690dd --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_ble/README.md @@ -0,0 +1,14 @@ +# F9p-ntrip-esp32 +Code pour utiliser un esp32 pour injecter directement le rtcm3 dans le f9p et un rs232 ou bluetooth en sortie +utile pour fournir une trame nmea corrigée sur une console qui ne gere pas le rtk + +Librairies +https://github.com/GLAY-AK2/NTRIP-client-for-Arduino +esp32 maj : prend en charge les nouvelles cartes bien plus performante comme esp32-s3 (pas de bluetooth standard), esp32-c3(premier choix) ... +https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json + +Pour une utilisation bluetooth, il faut un esp32 standard. le code pour c3 sera prochainement disponible + +![image](https://github.com/user-attachments/assets/eceb0724-3493-4ac6-a98e-df5c3475c9f9) + +![Capture d’écran 2022-08-29 192657](https://user-images.githubusercontent.com/32975584/187261824-5b02ef2c-bc4a-482e-aa8f-ffc1788b9145.png) diff --git a/unit_tests/3c_GNSS_RTK_bleserial/3c_GNSS_RTK_bleserial.ino b/unit_tests/3c_GNSS_RTK_bleserial/3c_GNSS_RTK_bleserial.ino new file mode 100644 index 0000000..31cb114 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_bleserial/3c_GNSS_RTK_bleserial.ino @@ -0,0 +1,237 @@ +/* ################### + * #  LIBRARIES # + * ################### + */ +#include +#include "NTRIPClient.h" +#include +#include +#include "Secret.h" + +// GNSS serial port +HardwareSerial MySerial(1); +#define PIN_RX 16 +#define PIN_TX 17 +#define MYSERIAL_BAUD_RATE 460800 // 115200 Works with F9P config on 2Hz ( not in 5Hz ! ) + +// BLUETOOTH Name +#define BT_NAME "ESP32_BT_GNSS_RTK" + +const char* ssid = WIFI_SSID; +const char* password = WIFI_PASSWORD; +IPAddress server(192, 168, 1, 100); // IP address of the server +int port = 80; + +char* host = NTRIP_SERVER_HOST; +int httpPort = 2101; // port 2101 is default port of NTRIP caster +char* mntpnt = NTRIP_CASTER_MOUNTPOINT; +char* user = NTRIP_USER; +char* passwd = NTRIP_PASSWORD; +bool sendGGA = true; +NTRIPClient ntrip_c; + +const char* udpAddress = "192.168.0.13"; +const int udpPort = 9999; + +int trans = 4; +// 0 = serial, 1 = udp, 2 = tcp client, 3 = MySerial, 4 = Bluetooth Choose which output you want to use. for RS232 set 0 and connect tx F9P directly to RS232 module + +WiFiUDP udp; + +// send GGA +NTRIPClient ntripClient; +String nmeaMessage = ""; +String ggaMessage = ""; + +unsigned long previousMillis = 0; // timer +unsigned long currentMillis = 0; // timer + +const long interval = 10000; // Duration between 2 GGA Sending +const long readDuration = 1000; // Duration of NMEA reading in milliseconds + +BleSerial SerialBT; +bool blDeviceConnected = false; + +#define BT_NAME "GC_ESP32" + +void setup() { + // put your setup code here, to run once: + Serial.begin(115200); + delay(500); + MySerial.begin(MYSERIAL_BAUD_RATE, SERIAL_8N1, PIN_RX, PIN_TX); // serial port to send RTCM to F9P + delay(100); + + #if 0 + Serial.print("Connecting to "); + Serial.println(ssid); + WiFi.begin(ssid, password); + + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + + Serial.println("WiFi connected"); + Serial.println("IP address: "); + Serial.println(WiFi.localIP()); + #endif + + /* === START -- SERVER BLE === */ + // Initialiser le Bluetooth + SerialBT.begin(BT_NAME, true, 13); + /* + switch (trans) { + case 4: + if (!SerialBT.begin(BT_NAME)) { + Serial.println("An error occurred initializing Bluetooth"); + } else { + Serial.println("Bluetooth initialized with name " + (String)BT_NAME); + } + break; + } + */ + + #if 0 + Serial.println("Requesting SourceTable."); + if (ntrip_c.reqSrcTbl(host, httpPort)) { + char buffer[512]; + delay(5); + while (ntrip_c.available()) { + ntrip_c.readLine(buffer, sizeof(buffer)); + //Serial.print(buffer); + } + Serial.print("Requesting SourceTable is OK\n"); + + } else { + Serial.println("SourceTable request error"); + } + ntrip_c.stop(); // Need to call "stop" function for next request. + + Serial.println("Requesting MountPoint's Raw data"); + if (!ntrip_c.reqRaw(host, httpPort, mntpnt, user, passwd)) { + delay(15000); + ESP.restart(); + } + Serial.println("Requesting MountPoint is OK"); + #endif +} + +void loop() { + + /* wifi stuff */ + #if 0 + WiFiClient client; + if (sendGGA) { + currentMillis = millis(); + if (currentMillis - previousMillis >= interval) { + previousMillis = currentMillis; + + unsigned long readStartMillis = millis(); + bool ggaFound = false; + while (millis() - readStartMillis < readDuration && !ggaFound) { + while (MySerial.available()) { + char c = MySerial.read(); + if (c == '\n' || c == '\r') { + if (nmeaMessage.startsWith("$GNGGA") || nmeaMessage.startsWith("$GPGGA")) { + // Validation du format GGA + int numFields = 0; + for (char ch : nmeaMessage) { + if (ch == ',') numFields++; + } + if (numFields == 14) { // 14 virgules attendues dans un message GGA complet + ntrip_c.setLastGGA(nmeaMessage); // Stocker le dernier message GGA reçu + Serial.println("Extracted GGA: " + nmeaMessage); // Log du message GGA extrait + ggaFound = true; // Mettre à jour le drapeau pour arrêter la lecture + break; // Sortir de la boucle intérieure + } + } + nmeaMessage = ""; + } else { + nmeaMessage += c; + } + } + } + + // Send the last GGA message stored + String lastGGA = ntrip_c.getLastGGA(); + if (lastGGA != "") { + ntrip_c.sendGGA(lastGGA.c_str(), host, httpPort, user, passwd, mntpnt); + Serial.println("Sent GGA: " + lastGGA); // Log sent GGA message + lastGGA = ""; + //Serial.println("Cleaned GGA"); + } else { + Serial.println("No GGA message to send."); + } + } + } + + while (ntrip_c.available()) { + char ch = ntrip_c.read(); + MySerial.print(ch); + } + #endif + + /* waiting for a device to connect */ + // if(!SerialBT.connected()) { + // if (blDeviceConnected) { + // blDeviceConnected = false; + // Serial.println("Device disconnected"); + // } + // Serial.print("Waiting for a BL device to connect"); + // delay(1000); + // Serial.print("."); + // } else { + // blDeviceConnected = true; + // Serial.println("A device is connected"); + // } + Serial.println("time to connect..."); + //delay(5000); + Serial.println("streaming..."); + + /* processing */ + while (MySerial.available()) { + String s = MySerial.readStringUntil('\n'); + switch (trans) { + case 0: // serial out + Serial.println(s); + break; + case 1: // udp out + #if 0 + udp.beginPacket(udpAddress, udpPort); + udp.print(s); + udp.endPacket(); + #endif 0 + break; + case 2: // tcp client out + #if 0 + if (!client.connect(server, port)) { + Serial.println("connection failed"); + return; + } + client.println(s); + while (client.connected()) { + while (client.available()) { + char c = client.read(); + Serial.print(c); + } + } + client.stop(); + #endif 0 + break; + case 3: // MySerial out + MySerial.println(s); + break; + case 4: //BT + SerialBT.println(s); + Serial.print("Publishing gnss data | length: "); + Serial.print(s.length()); + Serial.print(", content: "); + Serial.println(s); + // Serial.println(s); // DEbug mode, permet de voir toutes les trames envoyées par le F9P + break; + default: // mauvaise config + Serial.println("mauvais choix ou oubli de configuration"); + break; + } + } +} diff --git a/unit_tests/3c_GNSS_RTK_bleserial/CHANGES.md b/unit_tests/3c_GNSS_RTK_bleserial/CHANGES.md new file mode 100644 index 0000000..b24fd28 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_bleserial/CHANGES.md @@ -0,0 +1,45 @@ +# Changes + +## Introduction + +This is a modified version of the original code `rover-gnss/unit_tests/3b_GNSS_RTK` where I modified it to let the ESP32 send the GPS data using the BLE protocol. + +### Problem with iPhone and Mac + +The original code is using the classic bluetooth profile (`SPP`, i.e., `Bluetooth Serial`), which is well supported by Android, but not by Apple devices (like on iOS). +> See . + +> **References:** +> 1. +> 2. +> 3. [Increase size of BLE messages](https://www.esp32.com/viewtopic.php?t=4546), as by default is 20mb (according to that link). + +This resulted into the modified sketch `3c_GNSS_RTK_ble` in `rover-gnss-master/unit_tests`. + +### Problem of first prototype sketch + +After flashing, I used an Android phone and installed the app `LightBlue` to read the raw data sent by the esp32 board. + +Now, I searched for an app supporting reading GNSS data over BLE. I found `GNSS Master`. +> **NB:** In the original version of the code, the app `Bluetooth GNSS` was used to read the gnss data from the esp32 board over the `SPP` protocol. However, this app does not seem to support BLE. + +So I switched to `GNSS Master`. + +**However**, this introduced a new problem. +`GNSS Master` supports BLE, but only with the profile *Serial*! +I has to modify the code in order to change the server profile UID. + +On this regard, I found the library [ESP32_BleSerial](https://github.com/avinabmalla/ESP32_BleSerial/tree/master) which provides a class `BLESerial`. +This class works in the same way as the library `BluetoothSerial` used in the original sketch of the formation. +> Interestingly, in the implementation of `ESP32_BleSerial`, the developer does the same stuff as me for the BLE server and etc., but he is using a different UID for the server. +> Thus, it seems a valid candidate library to start playing from. + +I created a new project named `ble_rover` in `$HOME/Arduino/`, where the new sketch is named `3c_GNSS_RTK_bleserial`. + +### Other source of inspiration + +For the service and characteristics UIDs, I took inspiration from the example in the repository [esp32-ble-ios-demo](https://github.com/marcboeker/esp32-ble-ios-demo/tree/master). +In particular from the files: +- [include/bletest.h](https://github.com/marcboeker/esp32-ble-ios-demo/blob/master/esp32/include/bletest.h) +- [src/main.cpp](https://github.com/marcboeker/esp32-ble-ios-demo/blob/master/esp32/src/main.cpp) + diff --git a/unit_tests/3c_GNSS_RTK_bleserial/LICENSE b/unit_tests/3c_GNSS_RTK_bleserial/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_bleserial/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff --git a/unit_tests/3c_GNSS_RTK_bleserial/README.md b/unit_tests/3c_GNSS_RTK_bleserial/README.md new file mode 100644 index 0000000..54690dd --- /dev/null +++ b/unit_tests/3c_GNSS_RTK_bleserial/README.md @@ -0,0 +1,14 @@ +# F9p-ntrip-esp32 +Code pour utiliser un esp32 pour injecter directement le rtcm3 dans le f9p et un rs232 ou bluetooth en sortie +utile pour fournir une trame nmea corrigée sur une console qui ne gere pas le rtk + +Librairies +https://github.com/GLAY-AK2/NTRIP-client-for-Arduino +esp32 maj : prend en charge les nouvelles cartes bien plus performante comme esp32-s3 (pas de bluetooth standard), esp32-c3(premier choix) ... +https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json + +Pour une utilisation bluetooth, il faut un esp32 standard. le code pour c3 sera prochainement disponible + +![image](https://github.com/user-attachments/assets/eceb0724-3493-4ac6-a98e-df5c3475c9f9) + +![Capture d’écran 2022-08-29 192657](https://user-images.githubusercontent.com/32975584/187261824-5b02ef2c-bc4a-482e-aa8f-ffc1788b9145.png)