UbloxF9P MovingBaseMode Base Output Messages Acquisition

UDPClient_ESP32_RTCM_BaselogDump_LogianaedOK_rev0309.ino

void loop() {
   
   if (Serial2.available())
  {
      digitalWrite(2, HIGH);
      f1data[k] = Serial2.read();
       //Serial.print(f1data[k],HEX);
      dumpflag=0;
      
      if ( f1data[k] == 0xD3)// &&  f1data[k-4] == 0x00)// &&  f1data[k-2] == 0xFE &&  f1data[k-1] == 0x80 && f1data[k]==0x01)
    {
         tin=millis();
         //Serial.print("4072.1:");
        //Serial.println(millis());
    }
     k++;
     /*
   if(k>4)
   {
     if(f1data[k]==0xD3)
      {
        Serial.println();
        Serial.print("D3_k=");
        Serial.println(k);
        k=0;
      }
  
     
        }//if k>4  
        digitalWrite(2, LOW);
        */
  }//Serial2.available End
    
   
     tout=millis();
    /*
     Serial.print("tin,tout=");
     Serial.print(tin);
     Serial.print(",");
     Serial.println(tout); 
     Serial.print("k=");
     Serial.println(k);
    */
     if (tout-tin>32 && dumpflag==0  ) //受信停止は10msec受信がないと判断
     {
       digitalWrite(2, HIGH);
      dumpflag=1;
      //Serial.println();
      Serial.print("*********************Data Num:k=");
      Serial.print(k);
       Serial.println("***********************************************");
      int stime=millis();
      for(i=0;i<k;i++)
      {
        
        
          //==============-> RTCM3 4072.1, Size 62, 'Reference station timing information' D3 00 38 7E FE 80 01 =============
    if (f1data[i] == 0xD3 &&  f1data[i+3] == 0xFE &&  f1data[i+4] == 0x80 && f1data[i+5]==0x01)
    {
        Serial.println();
        Serial.print("===============4072.1==========msec:");
        Serial.println(millis());
    }
     //==============RTCM3 1077, Size 226, 'GPS MSM7' D3 00 DC 43 50=============
     if (f1data[i] == 0xD3 &&  f1data[i+3] == 0x43 && f1data[i+4]==0x50)
    {
         Serial.println();
        Serial.print("===============1077==============msec:");
         Serial.println(millis());
    }
     //==============RTCM3 1087, Size 201, 'GLONASS MSM7 ' D3 00 C3 43 F0=============
     if (f1data[i] == 0xD3 &&   f1data[i+3] == 0x43 && f1data[i+4]==0xF0)
    {
        Serial.println();
        Serial.print("==============1087================msec:");
         Serial.println(millis());
    }
    //==============RTCM3 1097, Size 127, 'Galileo MSM7 ' D3 00 79 44 90=============
     if (f1data[i] == 0xD3 &&  f1data[i+3] == 0x44 && f1data[i+4]==0x90)
    {
        Serial.println();
        Serial.print("================1097=============msec:");
         Serial.println(millis());
    }
   //==============RTCM3 1230, Size 10, 'GLONASS code-phase biases'D3 00 04 4C E0=============
     if (f1data[i] == 0xD3 &&   f1data[i+3] == 0x4C && f1data[i+4]==0xE0)
    {
        Serial.println();
        Serial.print("=================1230==============msec:");
         Serial.println(millis());
    }
     //==============-> RTCM3 4072.0, Size 132, 'Reference station PVT 'D3 00 38 7E FE 80 00 =============
    if (f1data[i] == 0xD3 &&  f1data[i+3] == 0xFE &&  f1data[i+4] == 0x80 && f1data[i+5]==0x00)
    {
        Serial.println();
        Serial.print("===============4072.0==========msec:");
        Serial.println(millis());
    }
         // if(f1data[i]==0xD3)
         //{
          // Serial.println("*");
        // }
         Serial.print(f1data[i],HEX);
         Serial.print(",");

      }
       digitalWrite(2, LOW);
       //Serial.println();
        k=0;
     }//if tout-tin end 
 
    
              
}//loop end