From 98bbfb73d8c7ded641b1bedbd49f87c6ac8f99dd Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sat, 30 Jul 2022 07:56:43 -1000
Subject: [PATCH 001/134] Enable printing of WiFi IP address by default

---
 Firmware/RTK_Surveyor/settings.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index cec82d09f..c841e3433 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -424,7 +424,7 @@ typedef struct {
   int8_t timeZoneSeconds = 0;
 
   //Debug settings
-  bool enablePrintWifiIpAddress = false;
+  bool enablePrintWifiIpAddress = true;
   bool enablePrintState = false;
   bool enablePrintWifiState = false;
   bool enablePrintNtripClientState = false;

From 71744d7b2a9a662f5da8eb21f86d5ef65a4ebbf3 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sat, 30 Jul 2022 18:41:36 -1000
Subject: [PATCH 002/134] Add printTimeStamp to support.ino

---
 Firmware/RTK_Surveyor/support.ino | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/Firmware/RTK_Surveyor/support.ino b/Firmware/RTK_Surveyor/support.ino
index 247006f12..20369b17d 100644
--- a/Firmware/RTK_Surveyor/support.ino
+++ b/Firmware/RTK_Surveyor/support.ino
@@ -405,3 +405,29 @@ byte readLine(char* buffer, byte bufferLength, int numberOfSeconds)
 
   return readLength;
 }
+
+#define TIMESTAMP_INTERVAL              1000    //Milliseconds
+
+//Print the timestamp
+void printTimeStamp()
+{
+  uint32_t currentMilliseconds;
+  static uint32_t previousMilliseconds;
+
+  //Timestamp the messages
+  currentMilliseconds = millis();
+  if ((currentMilliseconds - previousMilliseconds) >= TIMESTAMP_INTERVAL)
+  {
+    //         1         2         3
+    //123456789012345678901234567890
+    //YYYY-mm-dd HH:MM:SS.xxxrn0
+    struct tm timeinfo = rtc.getTimeStruct();
+    char timestamp[30];
+    strftime(timestamp, sizeof(timestamp), "%Y-%m-%d %H:%M:%S", &timeinfo);
+    Serial.printf("%s.%03ld\r\n", timestamp, rtc.getMillis());
+
+    //Select the next time to display the timestamp
+    previousMilliseconds = currentMilliseconds;
+  }
+}
+

From d869176f68ef20785e13d318082845033a7b21c9 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sun, 31 Jul 2022 08:20:44 -1000
Subject: [PATCH 003/134] Add debug menu items to print messages

Add debug menu items to print:
* Battery messages
* Rover Accuracy messages
* Messages with bad checksums or CRCs
* Log file messages
* Ring buffer offsets
* NTRIP server messages (already in debug menu)
* NTRIP client messages
* States of the main state machine
* Duplicate states of the main state machine
---
 Firmware/RTK_Surveyor/NVM.ino        | 34 +++++++++--
 Firmware/RTK_Surveyor/menuSystem.ino | 87 ++++++++++++++++++++++++----
 Firmware/RTK_Surveyor/settings.h     | 11 +++-
 3 files changed, 115 insertions(+), 17 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 24cf983b7..4380f2d44 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -238,9 +238,18 @@ void recordSystemSettingsToFile(File * settingsFile)
   settingsFile->printf("%s=%d\n\r", "enablePrintWifiState", settings.enablePrintWifiState);
   settingsFile->printf("%s=%d\n\r", "enablePrintNtripClientState", settings.enablePrintNtripClientState);
   settingsFile->printf("%s=%d\n\r", "enablePrintNtripServerState", settings.enablePrintNtripServerState);
-  settingsFile->printf("%s=%d\n\r", "enablePrintNtripServerRtcm", settings.enablePrintNtripServerRtcm);
   settingsFile->printf("%s=%d\n\r", "enablePrintPosition", settings.enablePrintPosition);
   settingsFile->printf("%s=%d\n\r", "enableMarksFile", settings.enableMarksFile);
+  settingsFile->printf("%s=%d\n\r", "enablePrintBatteryMessages", settings.enablePrintBatteryMessages);
+  settingsFile->printf("%s=%d\n\r", "enablePrintRoverAccuracy", settings.enablePrintRoverAccuracy);
+  settingsFile->printf("%s=%d\n\r", "enablePrintBadMessages", settings.enablePrintBadMessages);
+  settingsFile->printf("%s=%d\n\r", "enablePrintLogFileMessages", settings.enablePrintLogFileMessages);
+  settingsFile->printf("%s=%d\n\r", "enablePrintLogFileStatus", settings.enablePrintLogFileStatus);
+  settingsFile->printf("%s=%d\n\r", "enablePrintRingBufferOffsets", settings.enablePrintRingBufferOffsets);
+  settingsFile->printf("%s=%d\n\r", "enablePrintNtripServerRtcm", settings.enablePrintNtripServerRtcm);
+  settingsFile->printf("%s=%d\n\r", "enablePrintNtripClientRtcm", settings.enablePrintNtripClientRtcm);
+  settingsFile->printf("%s=%d\n\r", "enablePrintStates", settings.enablePrintStates);
+  settingsFile->printf("%s=%d\n\r", "enablePrintDuplicateStates", settings.enablePrintDuplicateStates);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -809,11 +818,28 @@ bool parseLine(char* str, Settings *settings)
     settings->enablePrintNtripClientState = d;
   else if (strcmp(settingName, "enablePrintNtripServerState") == 0)
     settings->enablePrintNtripServerState = d;
-  else if (strcmp(settingName, "enablePrintNtripServerRtcm") == 0)
-    settings->enablePrintNtripServerRtcm = d;
   else if (strcmp(settingName, "enablePrintPosition") == 0)
     settings->enablePrintPosition = d;
-
+  else if (strcmp(settingName, "enablePrintBatteryMessages") == 0)
+    settings->enablePrintBatteryMessages = d;
+  else if (strcmp(settingName, "enablePrintRoverAccuracy") == 0)
+    settings->enablePrintRoverAccuracy = d;
+  else if (strcmp(settingName, "enablePrintBadMessages") == 0)
+    settings->enablePrintBadMessages = d;
+  else if (strcmp(settingName, "enablePrintLogFileMessages") == 0)
+    settings->enablePrintLogFileMessages = d;
+  else if (strcmp(settingName, "enablePrintLogFileStatus") == 0)
+    settings->enablePrintLogFileStatus = d;
+  else if (strcmp(settingName, "enablePrintRingBufferOffsets") == 0)
+    settings->enablePrintRingBufferOffsets = d;
+  else if (strcmp(settingName, "enablePrintNtripServerRtcm") == 0)
+    settings->enablePrintNtripServerRtcm = d;
+  else if (strcmp(settingName, "enablePrintNtripClientRtcm") == 0)
+    settings->enablePrintNtripClientRtcm = d;
+  else if (strcmp(settingName, "enablePrintStates") == 0)
+    settings->enablePrintStates = d;
+  else if (strcmp(settingName, "enablePrintDuplicateStates") == 0)
+    settings->enablePrintDuplicateStates = d;
   //Check for bulk settings (constellations and message rates)
   //Must be last on else list
   else
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index f3cb70cd1..b5576be30 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -324,16 +324,43 @@ void menuDebug()
     Serial.print("14) Periodically print NTRIP server state: ");
     Serial.printf("%s\r\n", settings.enablePrintNtripServerState ? "Enabled" : "Disabled");
 
-    Serial.print("15) Print GNSS --> NTRIP caster messages: ");
-    Serial.printf("%s\r\n", settings.enablePrintNtripServerRtcm ? "Enabled" : "Disabled");
-
-    Serial.print("16) Periodically print position: ");
+    Serial.print("15) Periodically print position: ");
     Serial.printf("%s\r\n", settings.enablePrintPosition ? "Enabled" : "Disabled");
 
-    Serial.print("17) Periodically print CPU idle time: ");
+    Serial.print("16) Periodically print CPU idle time: ");
     Serial.printf("%s\r\n", settings.enablePrintIdleTime ? "Enabled" : "Disabled");
 
-    Serial.println("18) Mirror ZED-F9x's UART1 settings to USB");
+    Serial.println("17) Mirror ZED-F9x's UART1 settings to USB");
+
+    Serial.print("18) Print battery status messages: ");
+    Serial.printf("%s\r\n", settings.enablePrintBatteryMessages ? "Enabled" : "Disabled");
+
+    Serial.print("19) Print Rover accuracy messages: ");
+    Serial.printf("%s\r\n", settings.enablePrintRoverAccuracy ? "Enabled" : "Disabled");
+
+    Serial.print("20) Print messages with bad checksums or CRCs: ");
+    Serial.printf("%s\r\n", settings.enablePrintBadMessages ? "Enabled" : "Disabled");
+
+    Serial.print("21) Print log file messages: ");
+    Serial.printf("%s\r\n", settings.enablePrintLogFileMessages ? "Enabled" : "Disabled");
+
+    Serial.print("22) Print log file status: ");
+    Serial.printf("%s\r\n", settings.enablePrintLogFileStatus ? "Enabled" : "Disabled");
+
+    Serial.print("23) Print ring buffer offsets: ");
+    Serial.printf("%s\r\n", settings.enablePrintRingBufferOffsets ? "Enabled" : "Disabled");
+
+    Serial.print("24) Print GNSS --> NTRIP caster messages: ");
+    Serial.printf("%s\r\n", settings.enablePrintNtripServerRtcm ? "Enabled" : "Disabled");
+
+    Serial.print("25) Print NTRIP caster --> GNSS messages: ");
+    Serial.printf("%s\r\n", settings.enablePrintNtripClientRtcm ? "Enabled" : "Disabled");
+
+    Serial.print("26) Print states: ");
+    Serial.printf("%s\r\n", settings.enablePrintStates ? "Enabled" : "Disabled");
+
+    Serial.print("27) Print duplicate states: ");
+    Serial.printf("%s\r\n", settings.enablePrintDuplicateStates ? "Enabled" : "Disabled");
 
     Serial.println("t) Enter Test Screen");
 
@@ -456,18 +483,14 @@ void menuDebug()
         settings.enablePrintNtripServerState ^= 1;
       }
       else if (incoming == 15)
-      {
-        settings.enablePrintNtripServerRtcm ^= 1;
-      }
-      else if (incoming == 16)
       {
         settings.enablePrintPosition ^= 1;
       }
-      else if (incoming == 17)
+      else if (incoming == 16)
       {
         settings.enablePrintIdleTime ^= 1;
       }
-      else if (incoming == 18)
+      else if (incoming == 17)
       {
         bool response = configureGNSSMessageRates(COM_PORT_USB, settings.ubxMessages); //Make sure the appropriate messages are enabled
         response &= i2cGNSS.setPortOutput(COM_PORT_USB, COM_TYPE_NMEA | COM_TYPE_UBX | COM_TYPE_RTCM3); //Duplicate UART1
@@ -477,6 +500,46 @@ void menuDebug()
         else
           Serial.println(F("USB messages successfully enabled"));
       }
+      else if (incoming == 18)
+      {
+        settings.enablePrintBatteryMessages ^= 1;
+      }
+      else if (incoming == 19)
+      {
+        settings.enablePrintRoverAccuracy ^= 1;
+      }
+      else if (incoming == 20)
+      {
+        settings.enablePrintBadMessages ^= 1;
+      }
+      else if (incoming == 21)
+      {
+        settings.enablePrintLogFileMessages ^= 1;
+      }
+      else if (incoming == 22)
+      {
+        settings.enablePrintLogFileStatus ^= 1;
+      }
+      else if (incoming == 23)
+      {
+        settings.enablePrintRingBufferOffsets ^= 1;
+      }
+      else if (incoming == 24)
+      {
+        settings.enablePrintNtripServerRtcm ^= 1;
+      }
+      else if (incoming == 25)
+      {
+        settings.enablePrintNtripClientRtcm ^= 1;
+      }
+      else if (incoming == 26)
+      {
+        settings.enablePrintStates ^= 1;
+      }
+      else if (incoming == 27)
+      {
+        settings.enablePrintDuplicateStates ^= 1;
+      }
       else
         printUnknown(incoming);
     }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index fc5cbb378..d2e63a4cf 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -429,9 +429,18 @@ typedef struct {
   bool enablePrintWifiState = false;
   bool enablePrintNtripClientState = false;
   bool enablePrintNtripServerState = false;
-  bool enablePrintNtripServerRtcm = false;
   bool enablePrintPosition = false;
   bool enablePrintIdleTime = false;
+  bool enablePrintBatteryMessages = true;
+  bool enablePrintRoverAccuracy = true;
+  bool enablePrintBadMessages = false;
+  bool enablePrintLogFileMessages = false;
+  bool enablePrintLogFileStatus = true;
+  bool enablePrintRingBufferOffsets = false;
+  bool enablePrintNtripServerRtcm = false;
+  bool enablePrintNtripClientRtcm = false;
+  bool enablePrintStates = true;
+  bool enablePrintDuplicateStates = false;
 } Settings;
 Settings settings;
 

From b2ae0db95e34cc5f52f5baf73a6912546ef403da Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Mon, 1 Aug 2022 15:44:54 -1000
Subject: [PATCH 004/134] Enable/disable printing of states and duplicate
 states

---
 Firmware/RTK_Surveyor/States.ino | 237 ++++++++++++++++---------------
 1 file changed, 122 insertions(+), 115 deletions(-)

diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 21943d51b..784e46792 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -931,125 +931,132 @@ void changeState(SystemState newState)
   //Log the heap size at the state change
   reportHeapNow();
 
+  //Debug print of new state, add leading asterisk for repeated states
+  if ((!settings.enablePrintDuplicateStates) && (newState == systemState))
+    return;
+
+  if (settings.enablePrintStates && (newState == systemState))
+    Serial.print("*");
+
   //Set the new state
   systemState = newState;
 
-  //Debug print of new state, add leading asterisk for repeated states
-  if (newState == systemState)
-    Serial.print("*");
-  switch (systemState)
+  if (settings.enablePrintStates)
   {
-    case (STATE_ROVER_NOT_STARTED):
-      Serial.print("State: Rover - Not Started");
-      break;
-    case (STATE_ROVER_NO_FIX):
-      Serial.print("State: Rover - No Fix");
-      break;
-    case (STATE_ROVER_FIX):
-      Serial.print("State: Rover - Fix");
-      break;
-    case (STATE_ROVER_RTK_FLOAT):
-      Serial.print("State: Rover - RTK Float");
-      break;
-    case (STATE_ROVER_RTK_FIX):
-      Serial.print("State: Rover - RTK Fix");
-      break;
-    case (STATE_BASE_NOT_STARTED):
-      Serial.print("State: Base - Not Started");
-      break;
-    case (STATE_BASE_TEMP_SETTLE):
-      Serial.print("State: Base-Temp - Settle");
-      break;
-    case (STATE_BASE_TEMP_SURVEY_STARTED):
-      Serial.print("State: Base-Temp - Survey Started");
-      break;
-    case (STATE_BASE_TEMP_TRANSMITTING):
-      Serial.print("State: Base-Temp - Transmitting");
-      break;
-    case (STATE_BASE_FIXED_NOT_STARTED):
-      Serial.print("State: Base-Fixed - Not Started");
-      break;
-    case (STATE_BASE_FIXED_TRANSMITTING):
-      Serial.print("State: Base-Fixed - Transmitting");
-      break;
-    case (STATE_BUBBLE_LEVEL):
-      Serial.print("State: Bubble level");
-      break;
-    case (STATE_MARK_EVENT):
-      Serial.print("State: Mark Event");
-      break;
-    case (STATE_DISPLAY_SETUP):
-      Serial.print("State: Display Setup");
-      break;
-    case (STATE_WIFI_CONFIG_NOT_STARTED):
-      Serial.print("State: WiFi Config Not Started");
-      break;
-    case (STATE_WIFI_CONFIG):
-      Serial.print("State: WiFi Config");
-      break;
-    case (STATE_TEST):
-      Serial.print("State: System Test Setup");
-      break;
-    case (STATE_TESTING):
-      Serial.print("State: System Testing");
-      break;
-    case (STATE_PROFILE):
-      Serial.print("State: Profile");
-      break;
-    case (STATE_KEYS_STARTED):
-      Serial.print("State: Keys Started ");
-      break;
-    case (STATE_KEYS_NEEDED):
-      Serial.print("State: Keys Needed");
-      break;
-    case (STATE_KEYS_WIFI_STARTED):
-      Serial.print("State: Keys WiFi Started");
-      break;
-    case (STATE_KEYS_WIFI_CONNECTED):
-      Serial.print("State: Keys WiFi Connected");
-      break;
-    case (STATE_KEYS_WIFI_TIMEOUT):
-      Serial.print("State: Keys WiFi Timeout");
-      break;
-    case (STATE_KEYS_EXPIRED):
-      Serial.print("State: Keys Expired");
-      break;
-    case (STATE_KEYS_DAYS_REMAINING):
-      Serial.print("State: Keys Days Remaining");
-      break;
-    case (STATE_KEYS_LBAND_CONFIGURE):
-      Serial.print("State: Keys L-Band Configure");
-      break;
-    case (STATE_KEYS_LBAND_ENCRYPTED):
-      Serial.print("State: Keys L-Band Encrypted");
-      break;
-    case (STATE_KEYS_PROVISION_WIFI_STARTED):
-      Serial.print("State: Keys Provision - WiFi Started");
-      break;
-    case (STATE_KEYS_PROVISION_WIFI_CONNECTED):
-      Serial.print("State: Keys Provision - WiFi Connected");
-      break;
-    case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
-      Serial.print("State: Keys Provision - WiFi Timeout");
-      break;
-
-    case (STATE_SHUTDOWN):
-      Serial.print("State: Shut Down");
-      break;
-    default:
-      Serial.printf("Change State Unknown: %d", systemState);
-      break;
-  }
+    switch (systemState)
+    {
+      case (STATE_ROVER_NOT_STARTED):
+        Serial.print("State: Rover - Not Started");
+        break;
+      case (STATE_ROVER_NO_FIX):
+        Serial.print("State: Rover - No Fix");
+        break;
+      case (STATE_ROVER_FIX):
+        Serial.print("State: Rover - Fix");
+        break;
+      case (STATE_ROVER_RTK_FLOAT):
+        Serial.print("State: Rover - RTK Float");
+        break;
+      case (STATE_ROVER_RTK_FIX):
+        Serial.print("State: Rover - RTK Fix");
+        break;
+      case (STATE_BASE_NOT_STARTED):
+        Serial.print("State: Base - Not Started");
+        break;
+      case (STATE_BASE_TEMP_SETTLE):
+        Serial.print("State: Base-Temp - Settle");
+        break;
+      case (STATE_BASE_TEMP_SURVEY_STARTED):
+        Serial.print("State: Base-Temp - Survey Started");
+        break;
+      case (STATE_BASE_TEMP_TRANSMITTING):
+        Serial.print("State: Base-Temp - Transmitting");
+        break;
+      case (STATE_BASE_FIXED_NOT_STARTED):
+        Serial.print("State: Base-Fixed - Not Started");
+        break;
+      case (STATE_BASE_FIXED_TRANSMITTING):
+        Serial.print("State: Base-Fixed - Transmitting");
+        break;
+      case (STATE_BUBBLE_LEVEL):
+        Serial.print("State: Bubble level");
+        break;
+      case (STATE_MARK_EVENT):
+        Serial.print("State: Mark Event");
+        break;
+      case (STATE_DISPLAY_SETUP):
+        Serial.print("State: Display Setup");
+        break;
+      case (STATE_WIFI_CONFIG_NOT_STARTED):
+        Serial.print("State: WiFi Config Not Started");
+        break;
+      case (STATE_WIFI_CONFIG):
+        Serial.print("State: WiFi Config");
+        break;
+      case (STATE_TEST):
+        Serial.print("State: System Test Setup");
+        break;
+      case (STATE_TESTING):
+        Serial.print("State: System Testing");
+        break;
+      case (STATE_PROFILE):
+        Serial.print("State: Profile");
+        break;
+      case (STATE_KEYS_STARTED):
+        Serial.print("State: Keys Started ");
+        break;
+      case (STATE_KEYS_NEEDED):
+        Serial.print("State: Keys Needed");
+        break;
+      case (STATE_KEYS_WIFI_STARTED):
+        Serial.print("State: Keys WiFi Started");
+        break;
+      case (STATE_KEYS_WIFI_CONNECTED):
+        Serial.print("State: Keys WiFi Connected");
+        break;
+      case (STATE_KEYS_WIFI_TIMEOUT):
+        Serial.print("State: Keys WiFi Timeout");
+        break;
+      case (STATE_KEYS_EXPIRED):
+        Serial.print("State: Keys Expired");
+        break;
+      case (STATE_KEYS_DAYS_REMAINING):
+        Serial.print("State: Keys Days Remaining");
+        break;
+      case (STATE_KEYS_LBAND_CONFIGURE):
+        Serial.print("State: Keys L-Band Configure");
+        break;
+      case (STATE_KEYS_LBAND_ENCRYPTED):
+        Serial.print("State: Keys L-Band Encrypted");
+        break;
+      case (STATE_KEYS_PROVISION_WIFI_STARTED):
+        Serial.print("State: Keys Provision - WiFi Started");
+        break;
+      case (STATE_KEYS_PROVISION_WIFI_CONNECTED):
+        Serial.print("State: Keys Provision - WiFi Connected");
+        break;
+      case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
+        Serial.print("State: Keys Provision - WiFi Timeout");
+        break;
 
-  if (online.rtc)
-  {
-    //Timestamp the state change
-    //         1         2
-    //12345678901234567890123456
-    //YYYY-mm-dd HH:MM:SS.xxxrn0
-    struct tm timeinfo = rtc.getTimeStruct();
-    char s[30];
-    strftime(s, sizeof(s), "%Y-%m-%d %H:%M:%S", &timeinfo);
-    Serial.printf(", %s.%03ld\r\n", s, rtc.getMillis());
+      case (STATE_SHUTDOWN):
+        Serial.print("State: Shut Down");
+        break;
+      default:
+        Serial.printf("Change State Unknown: %d", systemState);
+        break;
+    }
+
+    if (online.rtc)
+    {
+      //Timestamp the state change
+      //         1         2
+      //12345678901234567890123456
+      //YYYY-mm-dd HH:MM:SS.xxxrn0
+      struct tm timeinfo = rtc.getTimeStruct();
+      char s[30];
+      strftime(s, sizeof(s), "%Y-%m-%d %H:%M:%S", &timeinfo);
+      Serial.printf(", %s.%03ld\r\n", s, rtc.getMillis());
+    }
   }
 }

From ee35cfb1a7b994c13adf8ff0b6fe79e450703d61 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sun, 31 Jul 2022 08:39:32 -1000
Subject: [PATCH 005/134] Enable/disable printing of battery status messages

---
 Firmware/RTK_Surveyor/System.ino | 37 +++++++++++++++++---------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/Firmware/RTK_Surveyor/System.ino b/Firmware/RTK_Surveyor/System.ino
index 271ae9bcc..fb88b501f 100644
--- a/Firmware/RTK_Surveyor/System.ino
+++ b/Firmware/RTK_Surveyor/System.ino
@@ -346,25 +346,28 @@ void checkBatteryLevels()
   battVoltage = lipo.getVoltage();
   battChangeRate = lipo.getChangeRate();
 
-  Serial.printf("Batt (%d%%): Voltage: %0.02fV", battLevel, battVoltage);
+  if (settings.enablePrintBatteryMessages)
+  {
+    Serial.printf("Batt (%d%%): Voltage: %0.02fV", battLevel, battVoltage);
 
-  char tempStr[25];
-  if (battChangeRate > 0)
-    sprintf(tempStr, "C");
-  else
-    sprintf(tempStr, "Disc");
-  Serial.printf(" %sharging: %0.02f%%/hr ", tempStr, battChangeRate);
-
-  if (battLevel < 10)
-    sprintf(tempStr, "Red");
-  else if (battLevel < 50)
-    sprintf(tempStr, "Yellow");
-  else if (battLevel >= 50)
-    sprintf(tempStr, "Green");
-  else
-    sprintf(tempStr, "No batt");
+    char tempStr[25];
+    if (battChangeRate > 0)
+      sprintf(tempStr, "C");
+    else
+      sprintf(tempStr, "Disc");
+    Serial.printf(" %sharging: %0.02f%%/hr ", tempStr, battChangeRate);
+
+    if (battLevel < 10)
+      sprintf(tempStr, "Red");
+    else if (battLevel < 50)
+      sprintf(tempStr, "Yellow");
+    else if (battLevel >= 50)
+      sprintf(tempStr, "Green");
+    else
+      sprintf(tempStr, "No batt");
 
-  Serial.printf("%s\n\r", tempStr);
+    Serial.printf("%s\n\r", tempStr);
+  }
 
   if (productVariant == RTK_SURVEYOR)
   {

From 5d7a211923026dfb3672ff31523ed0d26218ee4d Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sun, 31 Jul 2022 08:43:20 -1000
Subject: [PATCH 006/134] Enable/disable printing of Rover Accuracy messages

---
 Firmware/RTK_Surveyor/Rover.ino | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Rover.ino b/Firmware/RTK_Surveyor/Rover.ino
index 6dc05cf99..99dd6a4cb 100644
--- a/Firmware/RTK_Surveyor/Rover.ino
+++ b/Firmware/RTK_Surveyor/Rover.ino
@@ -269,9 +269,12 @@ void updateAccuracyLEDs()
     {
       if (horizontalAccuracy > 0)
       {
-        Serial.print("Rover Accuracy (m): ");
-        Serial.print(horizontalAccuracy, 4); // Print the accuracy with 4 decimal places
-        Serial.println();
+        if (settings.enablePrintRoverAccuracy)
+        {
+          Serial.print("Rover Accuracy (m): ");
+          Serial.print(horizontalAccuracy, 4); // Print the accuracy with 4 decimal places
+          Serial.println();
+        }
 
         if (productVariant == RTK_SURVEYOR)
         {
@@ -301,7 +304,7 @@ void updateAccuracyLEDs()
           }
         }
       }
-      else
+      else if (settings.enablePrintRoverAccuracy)
       {
         Serial.print("Rover Accuracy: ");
         Serial.print(horizontalAccuracy);

From b7dc1e2abf02b21e861df8a54f83c4123bdc5e90 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Mon, 1 Aug 2022 15:59:11 -1000
Subject: [PATCH 007/134] Enable/disable printing of log file status messages

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 37 ++++++++++++++------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 35fecf979..36c79e289 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -675,7 +675,7 @@ void updateLogs()
     }
 
     //Report file sizes to show recording is working
-    if (millis() - lastFileReport > 5000)
+    if ((millis() - lastFileReport) > 5000)
     {
       long fileSize = 0;
 
@@ -696,25 +696,28 @@ void updateLogs()
       if (fileSize > 0)
       {
         lastFileReport = millis();
-        Serial.printf("UBX file size: %ld", fileSize);
-
-        if ((systemTime_minutes - startLogTime_minutes) < settings.maxLogTime_minutes)
+        if (settings.enablePrintLogFileStatus)
         {
-          //Calculate generation and write speeds every 5 seconds
-          uint32_t fileSizeDelta = fileSize - lastLogSize;
-          Serial.printf(" - Generation rate: %0.1fkB/s", fileSizeDelta / 5.0 / 1000.0);
-
-          if (totalWriteTime > 0)
-            Serial.printf(" - Write speed: %0.1fkB/s", fileSizeDelta / (totalWriteTime / 1000000.0) / 1000.0);
+          Serial.printf("UBX file size: %ld", fileSize);
+
+          if ((systemTime_minutes - startLogTime_minutes) < settings.maxLogTime_minutes)
+          {
+            //Calculate generation and write speeds every 5 seconds
+            uint32_t fileSizeDelta = fileSize - lastLogSize;
+            Serial.printf(" - Generation rate: %0.1fkB/s", fileSizeDelta / 5.0 / 1000.0);
+
+            if (totalWriteTime > 0)
+              Serial.printf(" - Write speed: %0.1fkB/s", fileSizeDelta / (totalWriteTime / 1000000.0) / 1000.0);
+            else
+              Serial.printf(" - Write speed: 0.0kB/s");
+          }
           else
-            Serial.printf(" - Write speed: 0.0kB/s");
-        }
-        else
-        {
-          Serial.printf(" reached max log time %d", settings.maxLogTime_minutes);
-        }
+          {
+            Serial.printf(" reached max log time %d", settings.maxLogTime_minutes);
+          }
 
-        Serial.println();
+          Serial.println();
+        }
 
         totalWriteTime = 0; //Reset write time every 5s
 

From dd40f2b9d47ebbaa85e3540c2b32d612f80d2b29 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 2 Aug 2022 10:34:40 -0500
Subject: [PATCH 008/134] Create workflow for RC binary creation

---
 .github/workflows/compile-rc.yml       | 73 ++++++++++++++++++++++++++
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 15 ++----
 Firmware/RTK_Surveyor/settings.h       | 24 +++++++++
 3 files changed, 102 insertions(+), 10 deletions(-)
 create mode 100644 .github/workflows/compile-rc.yml

diff --git a/.github/workflows/compile-rc.yml b/.github/workflows/compile-rc.yml
new file mode 100644
index 000000000..b51df06a0
--- /dev/null
+++ b/.github/workflows/compile-rc.yml
@@ -0,0 +1,73 @@
+name: Build Release Candidate
+on: 
+  workflow_dispatch:
+    branches: 
+      - release_candidate
+
+env:
+  FILENAME_PREFIX: RTK_Surveyor_Firmware_
+  RC_PREFIX: RC-
+  POINTPERFECT_TOKEN: ${{ secrets.POINTPERFECT_TOKEN }}
+
+jobs:
+  build:
+    
+    name: Build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v1
+
+      #We limit the ESP32 core to v2.0.2
+      - name: Install platform
+        run: arduino-cli core install esp32:esp32@2.0.2 
+          --additional-urls 'https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json'
+
+      - name: Start config file
+        run: arduino-cli config init
+
+      - name: Enable external libs
+        run: arduino-cli config set library.enable_unsafe_install true
+
+      - name: Get Libraries
+        run: arduino-cli lib install --git-url 
+          https://github.com/fbiego/ESP32Time.git
+          https://github.com/me-no-dev/ESPAsyncWebServer.git 
+          https://github.com/me-no-dev/AsyncTCP.git 
+          https://github.com/JChristensen/JC_Button.git 
+          https://github.com/greiman/SdFat.git 
+          https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_Qwiic_OLED_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_LIS2DH12_Arduino_Library.git 
+          https://github.com/bblanchon/ArduinoJson.git 
+          https://github.com/knolleary/pubsubclient.git
+
+      - name: Compile Sketch
+        run: arduino-cli compile --fqbn esp32:esp32:esp32 ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
+          --build-property build.partitions=partitions
+          --build-property upload.maximum_size=3145728 
+          --export-binaries
+          --build-property DebugLevel.debug.build.code_debug=4
+          --build-property "compiler.cpp.extra_flags=\"-DPOINTPERFECT_TOKEN=$POINTPERFECT_TOKEN\""
+
+      - name: Get current date
+        id: date
+        run: echo "::set-output name=date::$(date +'%b_%d_%Y')"
+      
+      - name: Rename binary
+        run: |
+          cd Firmware/RTK_Surveyor
+          cd build
+          cd esp32.esp32.esp32
+          mv RTK_Surveyor.ino.bin ${{ env.FILENAME_PREFIX }}${{ env.RC_PREFIX }}${{ steps.date.outputs.date }}.bin
+
+      - name: Upload binary to action
+        uses: actions/upload-artifact@v3
+        with: 
+          name: ${{ env.FILENAME_PREFIX }}${{ env.RC_PREFIX }}${{ steps.date.outputs.date }}
+          path: ./Firmware/RTK_Surveyor/build/esp32.esp32.esp32/${{ env.FILENAME_PREFIX }}${{ env.RC_PREFIX }}${{ steps.date.outputs.date }}.bin       
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index da1240e8e..413316763 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -324,18 +324,13 @@ unsigned long timeSinceLastIncomingSetting = 0;
 SFE_UBLOX_GNSS_ADD i2cLBand; // NEO-D9S
 const char* pointPerfectKeyTopic = "/pp/ubx/0236/Lb";
 
-#if __has_include("tokens.h")
-#include "tokens.h"
-#else
-uint8_t pointPerfectTokenArray[] = {0xAA, 0xBB, 0xCC, 0xDD, 0x00, 0x11, 0x22, 0x33, 0x0A, 0x0B, 0x0C, 0x0D, 0x00, 0x01, 0x02, 0x03}; //Token in HEX form
-
-static const char *AWS_PUBLIC_CERT = R"=====(
------BEGIN CERTIFICATE-----
-Certificate here
------END CERTIFICATE-----
-)=====";
+//The PointPerfect token is provided at compile time via build flags
+#ifndef POINTPERFECT_TOKEN
+#define POINTPERFECT_TOKEN 0xAA, 0xBB, 0xCC, 0xDD, 0x00, 0x11, 0x22, 0x33, 0x0A, 0x0B, 0x0C, 0x0D, 0x00, 0x01, 0x02, 0x03
 #endif
 
+uint8_t pointPerfectTokenArray[16] = {POINTPERFECT_TOKEN}; //Token in HEX form
+
 const char* pointPerfectAPI = "https://api.thingstream.io/ztp/pointperfect/credentials";
 void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct);
 float lBandEBNO = 0.0; //Used on system status menu
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index cec82d09f..7d16093df 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -454,3 +454,27 @@ struct struct_online {
   bool lbandCorrections = false;
   bool i2c = false;
 } online;
+
+//AWS certificate for PointPerfect API
+static const char *AWS_PUBLIC_CERT = R"=====(
+-----BEGIN CERTIFICATE-----
+MIIDQTCCAimgAwIBAgITBmyfz5m/jAo54vB4ikPmljZbyjANBgkqhkiG9w0BAQsF
+ADA5MQswCQYDVQQGEwJVUzEPMA0GA1UEChMGQW1hem9uMRkwFwYDVQQDExBBbWF6
+b24gUm9vdCBDQSAxMB4XDTE1MDUyNjAwMDAwMFoXDTM4MDExNzAwMDAwMFowOTEL
+MAkGA1UEBhMCVVMxDzANBgNVBAoTBkFtYXpvbjEZMBcGA1UEAxMQQW1hem9uIFJv
+b3QgQ0EgMTCCASIwDQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBALJ4gHHKeNXj
+ca9HgFB0fW7Y14h29Jlo91ghYPl0hAEvrAIthtOgQ3pOsqTQNroBvo3bSMgHFzZM
+9O6II8c+6zf1tRn4SWiw3te5djgdYZ6k/oI2peVKVuRF4fn9tBb6dNqcmzU5L/qw
+IFAGbHrQgLKm+a/sRxmPUDgH3KKHOVj4utWp+UhnMJbulHheb4mjUcAwhmahRWa6
+VOujw5H5SNz/0egwLX0tdHA114gk957EWW67c4cX8jJGKLhD+rcdqsq08p8kDi1L
+93FcXmn/6pUCyziKrlA4b9v7LWIbxcceVOF34GfID5yHI9Y/QCB/IIDEgEw+OyQm
+jgSubJrIqg0CAwEAAaNCMEAwDwYDVR0TAQH/BAUwAwEB/zAOBgNVHQ8BAf8EBAMC
+AYYwHQYDVR0OBBYEFIQYzIU07LwMlJQuCFmcx7IQTgoIMA0GCSqGSIb3DQEBCwUA
+A4IBAQCY8jdaQZChGsV2USggNiMOruYou6r4lK5IpDB/G/wkjUu0yKGX9rbxenDI
+U5PMCCjjmCXPI6T53iHTfIUJrU6adTrCC2qJeHZERxhlbI1Bjjt/msv0tadQ1wUs
+N+gDS63pYaACbvXy8MWy7Vu33PqUXHeeE6V/Uq2V8viTO96LXFvKWlJbYK8U90vv
+o/ufQJVtMVT8QtPHRh8jrdkPSHCa2XV4cdFyQzR1bldZwgJcJmApzyMZFo6IQ6XU
+5MsI+yMRQ+hDKXJioaldXgjUkK642M4UwtBV8ob2xJNDd2ZhwLnoQdeXeGADbkpy
+rqXRfboQnoZsG4q5WTP468SQvvG5
+-----END CERTIFICATE-----
+)=====";

From b7f129f126bd4b0e5e6e532a317601131acbf1c8 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 2 Aug 2022 10:43:27 -0500
Subject: [PATCH 009/134] Add partition file for workflow compilation

---
 Firmware/RTK_Surveyor/partitions.csv | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 Firmware/RTK_Surveyor/partitions.csv

diff --git a/Firmware/RTK_Surveyor/partitions.csv b/Firmware/RTK_Surveyor/partitions.csv
new file mode 100644
index 000000000..7b89daee9
--- /dev/null
+++ b/Firmware/RTK_Surveyor/partitions.csv
@@ -0,0 +1,6 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+nvs,      data, nvs,     0x9000,  0x5000,
+otadata,  data, ota,     0xe000,  0x2000,
+app0,     app,  ota_0,   0x10000, 0x640000,
+app1,     app,  ota_1,   0x650000,0x640000,
+spiffs,   data, spiffs,  0xc90000,0x370000,

From e798f002009e09f8725d51765dee3f6dc3629c11 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sat, 30 Jul 2022 16:11:30 -1000
Subject: [PATCH 010/134] Validate the RTCM length field

---
 Firmware/RTK_Surveyor/NtripServer.ino | 23 +++++++++++++++++------
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 76b4742a2..0981b1f14 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -179,6 +179,23 @@ bool ntripServerRtcmMessage(uint8_t data)
 
   switch (crcState)
   {
+    //Read the upper two bits of the length
+    case RTCM_TRANSPORT_STATE_READ_LENGTH_1:
+      if (!(data & 3))
+      {
+        length = data << 8;
+        crcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
+        break;
+      }
+
+      //Wait for the preamble byte
+      crcState = 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;
@@ -189,12 +206,6 @@ bool ntripServerRtcmMessage(uint8_t data)
       }
       break;
 
-    //Read the upper two bits of the length
-    case RTCM_TRANSPORT_STATE_READ_LENGTH_1:
-      length = data << 8;
-      crcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
-      break;
-
     //Read the lower 8 bits of the length
     case RTCM_TRANSPORT_STATE_READ_LENGTH_2:
       length |= data;

From 6f1cf9c83e99e8f4986a9a6a04db88b1530bba93 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Tue, 2 Aug 2022 18:30:56 -1000
Subject: [PATCH 011/134] Enable/disable the parser in the NTRIP server

---
 Firmware/RTK_Surveyor/NVM.ino         | 4 ++++
 Firmware/RTK_Surveyor/NtripServer.ino | 2 +-
 Firmware/RTK_Surveyor/menuSystem.ino  | 7 +++++++
 Firmware/RTK_Surveyor/settings.h      | 1 +
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 4380f2d44..da26ad020 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -250,6 +250,7 @@ void recordSystemSettingsToFile(File * settingsFile)
   settingsFile->printf("%s=%d\n\r", "enablePrintNtripClientRtcm", settings.enablePrintNtripClientRtcm);
   settingsFile->printf("%s=%d\n\r", "enablePrintStates", settings.enablePrintStates);
   settingsFile->printf("%s=%d\n\r", "enablePrintDuplicateStates", settings.enablePrintDuplicateStates);
+  settingsFile->printf("%s=%d\n\r", "enableNtripServerMessageParsing", settings.enableNtripServerMessageParsing);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -840,6 +841,9 @@ bool parseLine(char* str, Settings *settings)
     settings->enablePrintStates = d;
   else if (strcmp(settingName, "enablePrintDuplicateStates") == 0)
     settings->enablePrintDuplicateStates = d;
+  else if (strcmp(settingName, "enableNtripServerMessageParsing") == 0)
+    settings->enableNtripServerMessageParsing = d;
+
   //Check for bulk settings (constellations and message rates)
   //Must be last on else list
   else
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 76b4742a2..e9fcbd218 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -352,7 +352,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
     previousMilliseconds = currentMilliseconds;
 
     //Parse the RTCM message
-    if (ntripServerRtcmMessage(incoming))
+    if ((!settings.enableNtripServerMessageParsing) || ntripServerRtcmMessage(incoming))
     {
       ntripServer->write(incoming); //Send this byte to socket
       ntripServerBytesSent++;
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 25a7616cb..82d5629dd 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -366,6 +366,9 @@ void menuDebug()
     Serial.print("27) Print duplicate states: ");
     Serial.printf("%s\r\n", settings.enablePrintDuplicateStates ? "Enabled" : "Disabled");
 
+    Serial.print("28) NTRIP server message parser: ");
+    Serial.printf("%s\r\n", settings.enableNtripServerMessageParsing ? "Enabled" : "Disabled");
+
     Serial.println("t) Enter Test Screen");
 
     Serial.println("e) Erase LittleFS");
@@ -544,6 +547,10 @@ void menuDebug()
       {
         settings.enablePrintDuplicateStates ^= 1;
       }
+      else if (incoming == 28)
+      {
+        settings.enableNtripServerMessageParsing ^= 1;
+      }
       else
         printUnknown(incoming);
     }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 4a540654b..96aa2559d 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -441,6 +441,7 @@ typedef struct {
   bool enablePrintNtripClientRtcm = false;
   bool enablePrintStates = true;
   bool enablePrintDuplicateStates = false;
+  bool enableNtripServerMessageParsing = false;
 } Settings;
 Settings settings;
 

From 78a9a689f5bd41df15cba6173721d3efb5f9d329 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Tue, 2 Aug 2022 18:34:29 -1000
Subject: [PATCH 012/134] Only process RTCM messages when the NTRIP server is
 in the casting state

---
 Firmware/RTK_Surveyor/NtripServer.ino | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 76b4742a2..bebf824d0 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -333,7 +333,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
   }
 
 #ifdef  COMPILE_WIFI
-  if (online.rtc)
+  if (online.rtc && (ntripServerState == NTRIP_SERVER_CASTING))
   {
     //Timestamp the RTCM messages
     currentMilliseconds = millis();
@@ -359,11 +359,11 @@ void ntripServerProcessRTCM(uint8_t incoming)
       ntripServerTimer = millis();
       online.txNtripDataCasting = true;
     }
-
-    //Indicate that the GNSS is providing correction data
-    else if (ntripServerState == NTRIP_SERVER_WAIT_GNSS_DATA)
-      ntripServerSetState(NTRIP_SERVER_CONNECTING);
   }
+
+  //Indicate that the GNSS is providing correction data
+  else if (ntripServerState == NTRIP_SERVER_WAIT_GNSS_DATA)
+    ntripServerSetState(NTRIP_SERVER_CONNECTING);
 #endif  //COMPILE_WIFI
 }
 

From 9a247285c7a291baf4d17c94c62359798f56bf2a Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Tue, 2 Aug 2022 18:38:41 -1000
Subject: [PATCH 013/134] Initialize the NTRIP server parser before entering
 the caster state

---
 Firmware/RTK_Surveyor/NtripServer.ino | 30 +++++++++++++++------------
 1 file changed, 17 insertions(+), 13 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index bebf824d0..538eddf32 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -154,11 +154,12 @@ void ntripServerResponse(char * response, size_t maxLength)
   *response = '\0';
 }
 
+static byte ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+
 //Parse the RTCM transport data
 bool ntripServerRtcmMessage(uint8_t data)
 {
   static uint16_t bytesRemaining;
-  static byte crcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
   static uint16_t length;
   static uint16_t message;
   static bool sendMessage = false;
@@ -177,14 +178,14 @@ bool ntripServerRtcmMessage(uint8_t data)
   //    |<-------------------------------- CRC -------------------------------->|
   //
 
-  switch (crcState)
+  switch (ntripServerCrcState)
   {
     //Wait for the preamble byte (0xd3)
     case RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3:
       sendMessage = false;
       if (data == 0xd3)
       {
-        crcState = RTCM_TRANSPORT_STATE_READ_LENGTH_1;
+        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_LENGTH_1;
         sendMessage = (ntripServerState == NTRIP_SERVER_CASTING);
       }
       break;
@@ -192,57 +193,57 @@ bool ntripServerRtcmMessage(uint8_t data)
     //Read the upper two bits of the length
     case RTCM_TRANSPORT_STATE_READ_LENGTH_1:
       length = data << 8;
-      crcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
       break;
 
     //Read the lower 8 bits of the length
     case RTCM_TRANSPORT_STATE_READ_LENGTH_2:
       length |= data;
       bytesRemaining = length;
-      crcState = RTCM_TRANSPORT_STATE_READ_MESSAGE_1;
+      ntripServerCrcState = 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;
-      crcState = RTCM_TRANSPORT_STATE_READ_MESSAGE_2;
+      ntripServerCrcState = 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;
-      crcState = RTCM_TRANSPORT_STATE_READ_DATA;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_DATA;
       break;
 
     //Read the rest of the message
     case RTCM_TRANSPORT_STATE_READ_DATA:
       bytesRemaining -= 1;
       if (bytesRemaining <= 0)
-        crcState = RTCM_TRANSPORT_STATE_READ_CRC_1;
+        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_1;
       break;
 
     //Read the upper 8 bits of the CRC
     case RTCM_TRANSPORT_STATE_READ_CRC_1:
-      crcState = RTCM_TRANSPORT_STATE_READ_CRC_2;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_2;
       break;
 
     //Read the middle 8 bits of the CRC
     case RTCM_TRANSPORT_STATE_READ_CRC_2:
-      crcState = RTCM_TRANSPORT_STATE_READ_CRC_3;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_3;
       break;
 
     //Read the lower 8 bits of the CRC
     case RTCM_TRANSPORT_STATE_READ_CRC_3:
-      crcState = RTCM_TRANSPORT_STATE_CHECK_CRC;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_CHECK_CRC;
       break;
   }
 
   //Check the CRC
-  if (crcState == RTCM_TRANSPORT_STATE_CHECK_CRC)
+  if (ntripServerCrcState == RTCM_TRANSPORT_STATE_CHECK_CRC)
   {
-    crcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+    ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
 
     //Account for this message
     rtcmPacketsSent++;
@@ -363,7 +364,10 @@ void ntripServerProcessRTCM(uint8_t incoming)
 
   //Indicate that the GNSS is providing correction data
   else if (ntripServerState == NTRIP_SERVER_WAIT_GNSS_DATA)
+  {
     ntripServerSetState(NTRIP_SERVER_CONNECTING);
+    ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+  }
 #endif  //COMPILE_WIFI
 }
 

From f50732a407ea2619a3a9f5cd41ad0aa4dd48a0c5 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Tue, 2 Aug 2022 18:42:06 -1000
Subject: [PATCH 014/134] Update the NTRIP server printed messages

---
 Firmware/RTK_Surveyor/NtripServer.ino | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index e9fcbd218..a4b98c5a0 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -249,7 +249,10 @@ bool ntripServerRtcmMessage(uint8_t data)
 
     //Display the RTCM message header
     if (settings.enablePrintNtripServerRtcm && (!inMainMenu))
-      Serial.printf ("    Message %d, %2d bytes\r\n", message, 3 + 1 + length + 3);
+    {
+      printTimeStamp();
+      Serial.printf ("    Tx RTCM %d, %2d bytes\r\n", message, 3 + length + 3);
+    }
   }
 
   //Let the upper layer know if this message should be sent
@@ -338,16 +341,18 @@ void ntripServerProcessRTCM(uint8_t incoming)
     //Timestamp the RTCM messages
     currentMilliseconds = millis();
     if (settings.enablePrintNtripServerRtcm
+        && (!settings.enableNtripServerMessageParsing)
         && (!inMainMenu)
-        && ((currentMilliseconds - previousMilliseconds) > 1))
+        && ((currentMilliseconds - previousMilliseconds) > 5))
     {
+      printTimeStamp();
       //         1         2         3
       //123456789012345678901234567890
       //YYYY-mm-dd HH:MM:SS.xxxrn0
       struct tm timeinfo = rtc.getTimeStruct();
       char timestamp[30];
       strftime(timestamp, sizeof(timestamp), "%Y-%m-%d %H:%M:%S", &timeinfo);
-      Serial.printf("RTCM: %s.%03ld\r\n", timestamp, rtc.getMillis());
+      Serial.printf("    Tx RTCM: %s.%03ld\r\n", timestamp, rtc.getMillis());
     }
     previousMilliseconds = currentMilliseconds;
 

From ef591331b56349a7fba9f90bdddca276dfe799d4 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 09:35:26 -0500
Subject: [PATCH 015/134] Fix >= bugs in task circular buffer

---
 Firmware/RTK_Surveyor/Tasks.ino | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 80ab5946c..7b83dbc07 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -55,11 +55,11 @@ void F9PSerialReadTask(void *e)
       //----------------------------------------------------------------------
       //The ESP32<->ZED-F9P serial connection is default 460,800bps to facilitate
       //10Hz fix rate with PPP Logging Defaults (NMEAx5 + RXMx2) messages enabled.
-      //ESP32 UART2 is begun with SERIAL_SIZE_RX size buffer. The circular buffer 
-      //is SERIAL_SIZE_RX. At approximately 46.1K characters/second, a 6144 * 2 
-      //byte buffer should hold 267ms worth of serial data. Assuming SD writes are 
-      //250ms worst case, we should record incoming all data. Bluetooth congestion 
-      //or conflicts with the SD card semaphore should clear within this time.  
+      //ESP32 UART2 is begun with SERIAL_SIZE_RX size buffer. The circular buffer
+      //is SERIAL_SIZE_RX. At approximately 46.1K characters/second, a 6144 * 2
+      //byte buffer should hold 267ms worth of serial data. Assuming SD writes are
+      //250ms worst case, we should record incoming all data. Bluetooth congestion
+      //or conflicts with the SD card semaphore should clear within this time.
       //
       //Ring buffer empty when (dataHead == btTail) and (dataHead == sdTail)
       //
@@ -125,7 +125,7 @@ void F9PSerialReadTask(void *e)
         availableBufferSpace -= 1;
 
       //Fill the buffer to the end and then start at the beginning
-      if ((dataHead + availableBufferSpace) > sizeof(rBuffer))
+      if ((dataHead + availableBufferSpace) >= sizeof(rBuffer))
         availableBufferSpace = sizeof(rBuffer) - dataHead;
 
       //If we have buffer space, read data from the GNSS into the buffer
@@ -164,7 +164,7 @@ void F9PSerialReadTask(void *e)
       {
         //Reduce bytes to send if we have more to send then the end of the buffer
         //We'll wrap next loop
-        if ((btTail + btBytesToSend) > sizeof(rBuffer))
+        if ((btTail + btBytesToSend) >= sizeof(rBuffer))
           btBytesToSend = sizeof(rBuffer) - btTail;
 
         //Reduce bytes to send to match BT buffer size
@@ -180,13 +180,20 @@ void F9PSerialReadTask(void *e)
         else
         {
           //Don't push data to BT SPP if there is congestion to prevent heap hits.
-          if (btBytesToSend < (sizeof(rBuffer) - 1))
-            btBytesToSend = 0;
-          else
+          if (btBytesToSend == (sizeof(rBuffer) - 1))
+          {
+            //Error - no more room in the buffer, drop a buffer's worth of data
+            btTail = dataHead;
             Serial.printf("ERROR - Congestion, dropped %d bytes: GNSS --> Bluetooth\r\n", btBytesToSend);
+          }
+          else
+          {
+            log_w("WARNING - BT failed to send, Tasks.ino line %d", __LINE__);
+            btBytesToSend = 0;
+          }
         }
 
-        //Account for the sent data or dropped
+        //Account for the sent or dropped data
         btTail += btBytesToSend;
         if (btTail >= sizeof(rBuffer))
           btTail -= sizeof(rBuffer);
@@ -211,7 +218,7 @@ void F9PSerialReadTask(void *e)
           {
             //Reduce bytes to send if we have more to send then the end of the buffer
             //We'll wrap next loop
-            if ((sdTail + sdBytesToRecord) > sizeof(rBuffer))
+            if ((sdTail + sdBytesToRecord) >= sizeof(rBuffer))
               sdBytesToRecord = sizeof(rBuffer) - sdTail;
 
             //Write the data to the file

From b72165a0bdcb426fc0d69ebbeddb30bed720e291 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 14:24:48 -0500
Subject: [PATCH 016/134] Correctly fail if LittleFS fails to start

---
 Firmware/RTK_Surveyor/Begin.ino | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 931973247..141242f67 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -395,13 +395,15 @@ void beginFS()
 {
   if (online.fs == false)
   {
-    if (!LittleFS.begin(true)) //Format LittleFS if begin fails
+    if (LittleFS.begin(true) == false) //Format LittleFS if begin fails
     {
-      log_d("Error: LittleFS not online");
-      return;
+      Serial.println("Error: LittleFS not online");
+    }
+    else
+    {
+      Serial.println("LittleFS Started");
+      online.fs = true;
     }
-    Serial.println("LittleFS Started");
-    online.fs = true;
   }
 }
 

From 3a8dd630808809b7cda8202fa93bdd2289a553b0 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 14:52:47 -0500
Subject: [PATCH 017/134] Reduce BT SPP_TX_MAX buffer size, Decrease UART2
 TX/RX buffers.

Something is causing BT transmission congestion causing SPP to fail. I located the problem down to BluetoothSerial.cpp.
---
 Firmware/RTK_Surveyor/Bluetooth.ino           |  4 ++--
 Firmware/RTK_Surveyor/RTK_Surveyor.ino        |  4 ++--
 Firmware/RTK_Surveyor/Tasks.ino               | 21 +++++++++----------
 .../src/BluetoothSerial/BluetoothSerial.cpp   | 12 +++++++++--
 4 files changed, 24 insertions(+), 17 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 04c26ab8e..36a29dd67 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -40,14 +40,14 @@ static volatile byte bluetoothState = BT_OFF;
 //Used for updating the bluetoothState state machine
 void bluetoothCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
   if (event == ESP_SPP_SRV_OPEN_EVT) {
-    Serial.println("Client Connected");
+    Serial.println("BT client Connected");
     bluetoothState = BT_CONNECTED;
     if (productVariant == RTK_SURVEYOR)
       digitalWrite(pin_bluetoothStatusLED, HIGH);
   }
 
   if (event == ESP_SPP_CLOSE_EVT ) {
-    Serial.println("Client disconnected");
+    Serial.println("BT client disconnected");
     bluetoothState = BT_NOTCONNECTED;
     if (productVariant == RTK_SURVEYOR)
       digitalWrite(pin_bluetoothStatusLED, LOW);
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 8ac894549..f65721ceb 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -236,11 +236,11 @@ char platformPrefix[55] = "Surveyor"; //Sets the prefix for broadcast names
 
 HardwareSerial serialGNSS(2); //TX on 17, RX on 16
 
-#define SERIAL_SIZE_RX (1024 * 6) //Must be large enough to handle incoming ZED UART traffic. See F9PSerialReadTask().
+#define SERIAL_SIZE_RX (1024 * 4) //Must be large enough to handle incoming ZED UART traffic. See F9PSerialReadTask().
 TaskHandle_t F9PSerialReadTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 const uint8_t F9PSerialReadTaskPriority = 1; //3 being the highest, and 0 being the lowest
 
-#define SERIAL_SIZE_TX (1024 * 2)
+#define SERIAL_SIZE_TX (1024 * 1)
 uint8_t wBuffer[SERIAL_SIZE_TX]; //Buffer for writing from incoming SPP to F9P
 TaskHandle_t F9PSerialWriteTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 const uint8_t F9PSerialWriteTaskPriority = 1; //3 being the highest, and 0 being the lowest
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 7b83dbc07..2a88e0b12 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -33,7 +33,7 @@ void F9PSerialWriteTask(void *e)
 //Task for reading data from the GNSS receiver.
 void F9PSerialReadTask(void *e)
 {
-  static uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading from F9P to SPP
+  static uint8_t rBuffer[1024 * 6]; //Buffer for reading from F9P to SPP
   static uint16_t dataHead = 0; //Head advances as data comes in from GNSS's UART
   static uint16_t btTail = 0; //BT Tail advances as it is sent over BT
   static uint16_t sdTail = 0; //SD Tail advances as it is recorded to SD
@@ -56,7 +56,7 @@ void F9PSerialReadTask(void *e)
       //The ESP32<->ZED-F9P serial connection is default 460,800bps to facilitate
       //10Hz fix rate with PPP Logging Defaults (NMEAx5 + RXMx2) messages enabled.
       //ESP32 UART2 is begun with SERIAL_SIZE_RX size buffer. The circular buffer
-      //is SERIAL_SIZE_RX. At approximately 46.1K characters/second, a 6144 * 2
+      //is 1024*6. At approximately 46.1K characters/second, a 6144 * 2
       //byte buffer should hold 267ms worth of serial data. Assuming SD writes are
       //250ms worst case, we should record incoming all data. Bluetooth congestion
       //or conflicts with the SD card semaphore should clear within this time.
@@ -167,28 +167,27 @@ void F9PSerialReadTask(void *e)
         if ((btTail + btBytesToSend) >= sizeof(rBuffer))
           btBytesToSend = sizeof(rBuffer) - btTail;
 
-        //Reduce bytes to send to match BT buffer size
-        if (btBytesToSend > settings.sppTxQueueSize)
-          btBytesToSend = settings.sppTxQueueSize;
-
         if ((bluetoothIsCongested() == false) || (settings.throttleDuringSPPCongestion == false))
         {
           //Push new data to BT SPP if not congested or not throttling
           btBytesToSend = bluetoothWriteBytes(&rBuffer[btTail], btBytesToSend);
-          online.txNtripDataCasting = true;
+          if (btBytesToSend > 0)
+            online.txNtripDataCasting = true;
+          else
+            log_w("WARNING - BT failed to send");
         }
         else
         {
           //Don't push data to BT SPP if there is congestion to prevent heap hits.
-          if (btBytesToSend == (sizeof(rBuffer) - 1))
+          if (btBytesToSend >= (sizeof(rBuffer) - 1))
           {
             //Error - no more room in the buffer, drop a buffer's worth of data
             btTail = dataHead;
-            Serial.printf("ERROR - Congestion, dropped %d bytes: GNSS --> Bluetooth\r\n", btBytesToSend);
+            Serial.printf("ERROR - BT congestion dropped %d bytes: GNSS --> Bluetooth\r\n", btBytesToSend);
           }
           else
           {
-            log_w("WARNING - BT failed to send, Tasks.ino line %d", __LINE__);
+            log_w("WARNING - BT congestion delayed %d bytes, Tasks.ino line %d", btBytesToSend, __LINE__);
             btBytesToSend = 0;
           }
         }
@@ -233,7 +232,7 @@ void F9PSerialReadTask(void *e)
           else
           {
             //Retry the semaphore a little later if possible
-            if (sdBytesToRecord == (sizeof(rBuffer) - 1))
+            if (sdBytesToRecord >= (sizeof(rBuffer) - 1))
             {
               //Error - no more room in the buffer, drop a buffer's worth of data
               sdTail = dataHead;
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
index d1c0f22a6..b26c1fe7c 100644
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
+++ b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
@@ -175,8 +175,16 @@ static esp_err_t _spp_queue_packet(uint8_t *data, size_t len){
 //At ~50kBps heap lowest point is ~78k and stable
 //Above 50kbps it becomes unstable
 
-//const uint16_t SPP_TX_MAX = 330; //Original 
-const uint16_t SPP_TX_MAX = 1024*4; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
+const uint16_t SPP_TX_MAX = 330; //Original 
+//const uint16_t SPP_TX_MAX = 400; //Original 
+//const uint16_t SPP_TX_MAX = 1024*4; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
+
+/*
+**Anything** other than 330 seems to cause the BT que to stop transmitting
+This started with the addition of the circular que. Resorting to original BT lib helps but the congestion
+is overwhelming.
+*/
+
 static uint8_t _spp_tx_buffer[SPP_TX_MAX];
 static uint16_t _spp_tx_buffer_len = 0;
 

From e9334a6c3f21cddea98e3d5a6825ada3d2e91a56 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 14:53:18 -0500
Subject: [PATCH 018/134] Increase timeout on debug menu

---
 Firmware/RTK_Surveyor/menuSystem.ino | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 25a7616cb..932bcc65b 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -275,12 +275,14 @@ void menuSystem()
 //Toggle control of heap reports and I2C GNSS debug
 void menuDebug()
 {
+  int menuTimeoutExtended = 30; //Increase time needed as it's a large menu
+
   while (1)
   {
     Serial.println();
     Serial.println("Menu: Debug Menu");
 
-    Serial.print("1) I2C Debugging Output: ");
+    Serial.print("1) u-blox I2C Debugging Output: ");
     if (settings.enableI2Cdebug == true) Serial.println("Enabled");
     else Serial.println("Disabled");
 
@@ -375,7 +377,7 @@ void menuDebug()
     Serial.println("x) Exit");
 
     int incoming;
-    int digits = getMenuChoice(&incoming, menuTimeout); //Timeout after x seconds
+    int digits = getMenuChoice(&incoming, menuTimeoutExtended); //Timeout after x seconds
 
     //Handle input timeout
     if (digits == GMCS_TIMEOUT)

From 26903f91474e28e445fcd2be9eca54eb0ad8a842 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 14:54:53 -0500
Subject: [PATCH 019/134] Increase max base position accuracy for survey in,
 for developer mode.

---
 Firmware/RTK_Surveyor/menuBase.ino | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Firmware/RTK_Surveyor/menuBase.ino b/Firmware/RTK_Surveyor/menuBase.ino
index 3a289bdde..52c23c87f 100644
--- a/Firmware/RTK_Surveyor/menuBase.ino
+++ b/Firmware/RTK_Surveyor/menuBase.ino
@@ -168,7 +168,11 @@ void menuBase()
     {
       Serial.print("Enter the number of meters for survey-in required position accuracy (1.0 to 5.0m): ");
       float observationPositionAccuracy = getDouble(menuTimeout); //Timeout after x seconds
+#ifdef ENABLE_DEVELOPER
+      if (observationPositionAccuracy < 1.0 || observationPositionAccuracy > 10.0) //Arbitrary 1m minimum
+#else
       if (observationPositionAccuracy < 1.0 || observationPositionAccuracy > 5.0) //Arbitrary 1m minimum
+#endif
       {
         Serial.println("Error: observation positional accuracy requirement out of range");
       }

From e053579ad3538e775b51f6b6d6153709bd97aa48 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 4 Aug 2022 16:30:37 -0500
Subject: [PATCH 020/134] Change Logging icon based on messages enabled

Fix for issue #267
---
 Firmware/RTK_Surveyor/Display.ino      |  41 +++++--
 Firmware/RTK_Surveyor/icons.h          | 148 +++++++++++++++----------
 Firmware/RTK_Surveyor/menuMessages.ino |  55 ++++++++-
 Graphics/Logging-Custom-1.bmp          | Bin 0 -> 190 bytes
 Graphics/Logging-Custom-2.bmp          | Bin 0 -> 190 bytes
 Graphics/Logging-Custom-3.bmp          | Bin 0 -> 190 bytes
 Graphics/Logging-PPP-1.bmp             | Bin 0 -> 190 bytes
 Graphics/Logging-PPP-2.bmp             | Bin 0 -> 190 bytes
 Graphics/Logging-PPP-3.bmp             | Bin 0 -> 190 bytes
 9 files changed, 173 insertions(+), 71 deletions(-)
 create mode 100644 Graphics/Logging-Custom-1.bmp
 create mode 100644 Graphics/Logging-Custom-2.bmp
 create mode 100644 Graphics/Logging-Custom-3.bmp
 create mode 100644 Graphics/Logging-PPP-1.bmp
 create mode 100644 Graphics/Logging-PPP-2.bmp
 create mode 100644 Graphics/Logging-PPP-3.bmp

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index eb3da5799..6373d6b6e 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -857,14 +857,39 @@ void paintLogging()
   loggingIconDisplayed %= 4; //Wrap
   if (online.logging == true && logIncreasing == true)
   {
-    if (loggingIconDisplayed == 0)
-      displayBitmap(64 - Logging_0_Width, 48 - Logging_0_Height, Logging_0_Width, Logging_0_Height, Logging_0);
-    else if (loggingIconDisplayed == 1)
-      displayBitmap(64 - Logging_1_Width, 48 - Logging_1_Height, Logging_1_Width, Logging_1_Height, Logging_1);
-    else if (loggingIconDisplayed == 2)
-      displayBitmap(64 - Logging_2_Width, 48 - Logging_2_Height, Logging_2_Width, Logging_2_Height, Logging_2);
-    else if (loggingIconDisplayed == 3)
-      displayBitmap(64 - Logging_3_Width, 48 - Logging_3_Height, Logging_3_Width, Logging_3_Height, Logging_3);
+    if (loggingType == LOGGING_STANDARD)
+    {
+      if (loggingIconDisplayed == 0)
+        displayBitmap(64 - Logging_0_Width, 48 - Logging_0_Height, Logging_0_Width, Logging_0_Height, Logging_0);
+      else if (loggingIconDisplayed == 1)
+        displayBitmap(64 - Logging_1_Width, 48 - Logging_1_Height, Logging_1_Width, Logging_1_Height, Logging_1);
+      else if (loggingIconDisplayed == 2)
+        displayBitmap(64 - Logging_2_Width, 48 - Logging_2_Height, Logging_2_Width, Logging_2_Height, Logging_2);
+      else if (loggingIconDisplayed == 3)
+        displayBitmap(64 - Logging_3_Width, 48 - Logging_3_Height, Logging_3_Width, Logging_3_Height, Logging_3);
+    }
+    else if (loggingType == LOGGING_PPP)
+    {
+      if (loggingIconDisplayed == 0)
+        displayBitmap(64 - Logging_0_Width, 48 - Logging_0_Height, Logging_0_Width, Logging_0_Height, Logging_0);
+      else if (loggingIconDisplayed == 1)
+        displayBitmap(64 - Logging_1_Width, 48 - Logging_1_Height, Logging_1_Width, Logging_1_Height, Logging_PPP_1);
+      else if (loggingIconDisplayed == 2)
+        displayBitmap(64 - Logging_2_Width, 48 - Logging_2_Height, Logging_2_Width, Logging_2_Height, Logging_PPP_2);
+      else if (loggingIconDisplayed == 3)
+        displayBitmap(64 - Logging_3_Width, 48 - Logging_3_Height, Logging_3_Width, Logging_3_Height, Logging_PPP_3);
+    }
+    else if (loggingType == LOGGING_CUSTOM)
+    {
+      if (loggingIconDisplayed == 0)
+        displayBitmap(64 - Logging_0_Width, 48 - Logging_0_Height, Logging_0_Width, Logging_0_Height, Logging_0);
+      else if (loggingIconDisplayed == 1)
+        displayBitmap(64 - Logging_1_Width, 48 - Logging_1_Height, Logging_1_Width, Logging_1_Height, Logging_Custom_1);
+      else if (loggingIconDisplayed == 2)
+        displayBitmap(64 - Logging_2_Width, 48 - Logging_2_Height, Logging_2_Width, Logging_2_Height, Logging_Custom_2);
+      else if (loggingIconDisplayed == 3)
+        displayBitmap(64 - Logging_3_Width, 48 - Logging_3_Height, Logging_3_Width, Logging_3_Height, Logging_Custom_3);
+    }
   }
   else
   {
diff --git a/Firmware/RTK_Surveyor/icons.h b/Firmware/RTK_Surveyor/icons.h
index 789d2a792..d5ca49ff5 100644
--- a/Firmware/RTK_Surveyor/icons.h
+++ b/Firmware/RTK_Surveyor/icons.h
@@ -5,7 +5,7 @@
 /*
     BT_Symbol [7, 14]
 
-           *
+
            **
            ***
         *  * **
@@ -18,7 +18,7 @@
         *  * **
            ***
            **
-           *
+
 */
 
 uint8_t BT_Symbol [] = {
@@ -36,9 +36,9 @@ int BT_Symbol_Width = 7;
         *  *     *  *
           *  ***  *
             *   *
-              *
+
              ***
-              *
+
 */
 
 uint8_t WiFi_Symbol [] = {
@@ -51,8 +51,8 @@ int WiFi_Symbol_Width = 13;
 /*
     CrossHair [15, 15]
 
-               *
-               *
+
+
             *******
            *   *   *
           *    *    *
@@ -64,8 +64,8 @@ int WiFi_Symbol_Width = 13;
           *    *    *
            *   *   *
             *******
-               *
-               *
+
+
 */
 
 uint8_t CrossHair [] = {
@@ -78,8 +78,8 @@ int CrossHair_Width = 15;
 /*
     CrossHairDual [15, 15]
 
-               *
-               *
+
+
             *******
            *   *   *
           *  *****  *
@@ -91,8 +91,8 @@ int CrossHair_Width = 15;
           *  *****  *
            *   *   *
             *******
-               *
-               *
+
+
 */
 
 uint8_t CrossHairDual [] = {
@@ -206,9 +206,9 @@ int Rover_Fusion_Empty_Width = 15;
          *  **  **  *
          *****  *** *
          *   ***   **
-         *
-         *
-         *
+
+
+
 */
 
 uint8_t BaseTemporary [] = {
@@ -435,9 +435,38 @@ uint8_t Logging_0 [] = {
   0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x0F,
 };
+
 int Logging_0_Height = 12;
 int Logging_0_Width = 9;
 
+uint8_t Logging_PPP_3 [] = {
+  0xFF, 0x01, 0xF9, 0x49, 0x49, 0x49, 0x33, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
+  0x08, 0x0F,
+};
+uint8_t Logging_PPP_2 [] = {
+  0xFF, 0x01, 0xF9, 0x41, 0x41, 0x41, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
+  0x08, 0x0F,
+};
+uint8_t Logging_PPP_1 [] = {
+  0xFF, 0x01, 0xC1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
+  0x08, 0x0F,
+};
+
+uint8_t Logging_Custom_3 [] = {
+  0xFF, 0x01, 0xF1, 0x09, 0x09, 0x09, 0x13, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
+  0x08, 0x0F,
+};
+uint8_t Logging_Custom_2 [] = {
+  0xFF, 0x01, 0xF1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
+  0x08, 0x0F,
+};
+uint8_t Logging_Custom_1 [] = {
+  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
+  0x08, 0x0F,
+};
+
+
+
 int DynamicModel_Height = 12;
 int DynamicModel_Width = 15;
 
@@ -470,7 +499,7 @@ uint8_t DynamicModel_1_Portable [] = {
             *******
              *****
               ***
-               *
+
               ***
              *****
             ** * **
@@ -491,7 +520,7 @@ uint8_t DynamicModel_2_Stationary [] = {
               ***
              *   *
               * *
-               *
+
              *****
             ** * **
                *  *
@@ -533,7 +562,7 @@ uint8_t DynamicModel_4_Automotive [] = {
     DynamicModel_5_Sea [15, 12]
 
 
-            *
+
            ***
            * *
            * *
@@ -555,7 +584,7 @@ uint8_t DynamicModel_5_Sea [] = {
     DynamicModel_6_Airborne1g [15, 12]
 
 
-         *
+
          **
          ***********
          * *       **
@@ -565,7 +594,7 @@ uint8_t DynamicModel_5_Sea [] = {
          ****** *****
               * *
               * *
-               *
+
 */
 
 uint8_t DynamicModel_6_Airborne1g [] = {
@@ -577,7 +606,7 @@ uint8_t DynamicModel_6_Airborne1g [] = {
     DynamicModel_7_Airborne2g [15, 12]
 
 
-         *
+
          **
          ***********
          * *       **
@@ -587,7 +616,7 @@ uint8_t DynamicModel_6_Airborne1g [] = {
          ****** *****
               * *
               * *
-               *
+
 */
 
 uint8_t DynamicModel_7_Airborne2g [] = {
@@ -599,7 +628,7 @@ uint8_t DynamicModel_7_Airborne2g [] = {
     DynamicModel_8_Airborne4g [15, 12]
 
 
-         *
+
          **
          ***********
          * *       **
@@ -609,7 +638,7 @@ uint8_t DynamicModel_7_Airborne2g [] = {
          ****** *****
               * *
               * *
-               *
+
 */
 
 uint8_t DynamicModel_8_Airborne4g [] = {
@@ -760,41 +789,42 @@ int UploadArrow_Width = 8;
 
 //SparkFun Electronics LOGO
 uint8_t logoSparkFun [] = {
-	// ROW0, BYTE0 to BYTE63
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
-	0xFF, 0xFF, 0xFF, 0x0F, 0x07, 0x07, 0x06, 0x06, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-	// ROW1, BYTE64 to BYTE127
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x81, 0x07, 0x0F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF,
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFC, 0xFC, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFC, 0xF8, 0xE0,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-	// ROW2, BYTE128 to BYTE191
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC,
-	0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xF0, 0xFD, 0xFF,
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-	// ROW3, BYTE192 to BYTE255
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x07, 0x01,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-	// ROW4, BYTE256 to BYTE319
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x1F, 0x0F, 0x0F, 0x0F, 0x0F,
-	0x0F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x07, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-	// ROW5, BYTE320 to BYTE383
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
-	0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+  // ROW0, BYTE0 to BYTE63
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0x0F, 0x07, 0x07, 0x06, 0x06, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  // ROW1, BYTE64 to BYTE127
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x81, 0x07, 0x0F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFC, 0xFC, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFC, 0xF8, 0xE0,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  // ROW2, BYTE128 to BYTE191
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC,
+  0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xF0, 0xFD, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  // ROW3, BYTE192 to BYTE255
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x07, 0x01,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  // ROW4, BYTE256 to BYTE319
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x1F, 0x0F, 0x0F, 0x0F, 0x0F,
+  0x0F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x07, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  // ROW5, BYTE320 to BYTE383
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
+  0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
 int logoSparkFun_Height = 48;
 int logoSparkFun_Width = 64;
+int ESPNOW_Symbol_Width = 8;
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index 228fa5b1e..b0583bf4f 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -140,7 +140,7 @@ void menuMessages()
 
       //We want GSV NMEA to be reported at 1Hz to avoid swamping SPP connection
       float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
-      if(measurementFrequency < 1.0) measurementFrequency = 1.0;
+      if (measurementFrequency < 1.0) measurementFrequency = 1.0;
       setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //One report per second
 
       setMessageRateByName("UBX_NMEA_RMC", 1);
@@ -152,10 +152,10 @@ void menuMessages()
       setMessageRateByName("UBX_NMEA_GGA", 1);
       setMessageRateByName("UBX_NMEA_GSA", 1);
       setMessageRateByName("UBX_NMEA_GST", 1);
-      
+
       //We want GSV NMEA to be reported at 1Hz to avoid swamping SPP connection
       float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
-      if(measurementFrequency < 1.0) measurementFrequency = 1.0;
+      if (measurementFrequency < 1.0) measurementFrequency = 1.0;
       setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //One report per second
 
       setMessageRateByName("UBX_NMEA_RMC", 1);
@@ -200,6 +200,7 @@ void menuMessages()
     Serial.println("menuMessages: UART1 messages successfully enabled");
   }
 
+  setLoggingType(); //Update Standard, PPP, or custom for icon selection
 }
 
 //Given a sub type (ie "RTCM", "NMEA") present menu showing messages with this subtype
@@ -459,7 +460,7 @@ void endLogging(bool gotSemaphore, bool releaseSemaphore)
     //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile()
     //Wait up to 1000ms
     if (gotSemaphore
-      || (xSemaphoreTake(sdCardSemaphore, 1000 / portTICK_PERIOD_MS) == pdPASS))
+        || (xSemaphoreTake(sdCardSemaphore, 1000 / portTICK_PERIOD_MS) == pdPASS))
     {
       if (sdPresent())
       {
@@ -610,3 +611,49 @@ bool setMessageRateByName(const char *msgName, uint8_t msgRate)
   Serial.printf("setMessageRateByName: %s not found\n\r", msgName);
   return (false);
 }
+
+//Given the name of a message, find it, and return the rate
+uint8_t getMessageRateByName(const char *msgName)
+{
+  for (int x = 0 ; x < MAX_UBX_MSG ; x++)
+  {
+    if (strcmp(settings.ubxMessages[x].msgTextName, msgName) == 0)
+      return (settings.ubxMessages[x].msgRate);
+  }
+
+  Serial.printf("getMessageRateByName: %s not found\n\r", msgName);
+  return (0);
+}
+
+//Determine logging type
+//If user is logging basic 5 sentences, this is 'S'tandard logging
+//If user is logging 7 PPP sentences, this is 'P'PP logging
+//If user has other setences turned on, it's custom logging
+//This controls the type of icon displayed
+void setLoggingType()
+{
+  loggingType = LOGGING_CUSTOM;
+
+  int messageCount = getActiveMessageCount();
+  Serial.printf("message count %d\n\r", messageCount);
+
+  if (messageCount == 5 || messageCount == 7)
+  {
+    if (getMessageRateByName("UBX_NMEA_GGA") > 0
+        && getMessageRateByName("UBX_NMEA_GSA") > 0
+        && getMessageRateByName("UBX_NMEA_GST") > 0
+        && getMessageRateByName("UBX_NMEA_GSV") > 0
+        && getMessageRateByName("UBX_NMEA_RMC") > 0
+       )
+    {
+      loggingType = LOGGING_STANDARD;
+      Serial.println("Logging type standard");
+
+      if (getMessageRateByName("UBX_RXM_RAWX") > 0 && getMessageRateByName("UBX_RXM_SFRBX") > 0)
+      {
+        loggingType = LOGGING_PPP;
+        Serial.println("Logging type PPP");
+      }
+    }
+  }
+}
diff --git a/Graphics/Logging-Custom-1.bmp b/Graphics/Logging-Custom-1.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..2b4e3a7e4e44e96dca28e3c97cfd9c323464aa71
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h&h2+0EihGSb!u19N}YN0AVH|7leV}KL`i{0Z1(_8mtmXFai~T
d*o*=U5Smet5zL2)6Q)7dfXo5A4Pq1n0|3JP3#tGB

literal 0
HcmV?d00001

diff --git a/Graphics/Logging-Custom-2.bmp b/Graphics/Logging-Custom-2.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..7c37e16a1077ac7585a3de2da811603861b07fd7
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h&h2+0EihGSb!u19N}YN0AVH|7leV}KL`i{0Z1(_8mtmXFai~T
f*o*=U5Smet5zGfl;H6>uAl87)0lN)i6axbQwml1K

literal 0
HcmV?d00001

diff --git a/Graphics/Logging-Custom-3.bmp b/Graphics/Logging-Custom-3.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..efaa4b195b1f82da9e4d280b234f5d90bb33ac0b
GIT binary patch
literal 190
zcmZ{eF%Ez*3<GV%!h+gg@CpWYzRbkGs2z*3Cpm5uE9rGV2&e3jHmOO(sv6!MuoktJ
g_)Hhh&b*Q;RKRaG#MxQB1{2Tx&*zNy)ZelS7_ra`NB{r;

literal 0
HcmV?d00001

diff --git a/Graphics/Logging-PPP-1.bmp b/Graphics/Logging-PPP-1.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..fc499e00c672efcff27bdbce276b439ce460783f
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h&h2+0EihGSb!u19N}YN0AVH|7leV}KL`i{0Z1(_8mtmXFai~T
Y*o;61UK*wjlLlD>G6(E75ECQ-0Kj?+oB#j-

literal 0
HcmV?d00001

diff --git a/Graphics/Logging-PPP-2.bmp b/Graphics/Logging-PPP-2.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..1e9be2ee4d511ee3a146c493903e33a89ff8daec
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h&h2+0EihGSb!u19N}YN0AVH|7leV}KL`i{0Z1(_8mtmXFai~T
b*o;61RvKsoR&khmh&3Q{z-|K>1+o_awOtEZ

literal 0
HcmV?d00001

diff --git a/Graphics/Logging-PPP-3.bmp b/Graphics/Logging-PPP-3.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..ffb05bfcf628e39dc15fb73861d12986fced545b
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h&h2+0EihGSb!u19N}YN0AVH|7leV}KL`i{0Z1(_8mtmXFai~T
d*o;61RvKsoRGblohKWP00ht4K8^|b-y#THt3n%~p

literal 0
HcmV?d00001


From d57a0b18354f62620ce27db80cebfb20bea44ebc Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 5 Aug 2022 10:06:19 -0500
Subject: [PATCH 021/134] Fix a few wifi state changes to use setState

---
 Firmware/RTK_Surveyor/Form.ino | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index 786ed4fb1..c0f964730 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -144,7 +144,7 @@ void startWebServer()
 #endif
 #endif
 
-  wifiState = WIFI_NOTCONNECTED;
+  wifiSetState(WIFI_NOTCONNECTED);
 }
 
 void stopWebServer()
@@ -262,11 +262,11 @@ void onWsEvent(AsyncWebSocket * server, AsyncWebSocketClient * client, AwsEventT
     createSettingsString(settingsCSV);
     log_d("Sending command: %s\n\r", settingsCSV);
     client->text(settingsCSV);
-    wifiState = WIFI_CONNECTED;
+    wifiSetState(WIFI_CONNECTED);
   }
   else if (type == WS_EVT_DISCONNECT) {
     log_d("Websocket client disconnected");
-    wifiState = WIFI_NOTCONNECTED;
+    wifiSetState(WIFI_NOTCONNECTED);
   }
   else if (type == WS_EVT_DATA) {
     for (int i = 0; i < len; i++) {

From 3ecc49d2400ca7a131459637cdb036a58359d828 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 5 Aug 2022 10:09:05 -0500
Subject: [PATCH 022/134] Separate WiFi BT stop/start

---
 Firmware/RTK_Surveyor/Bluetooth.ino | 3 ---
 Firmware/RTK_Surveyor/WiFi.ino      | 9 ++++-----
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 36a29dd67..ad4d2731e 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -105,9 +105,6 @@ bool bluetoothRxDataAvailable()
 //This allows multiple units to be on at same time
 void bluetoothStart()
 {
-  ntripClientStop(true);
-  ntripServerStop(true);
-  wifiStop();
 #ifdef COMPILE_BT
   if (bluetoothState == BT_OFF)
   {
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 7a858f4c1..2b65f585e 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -192,11 +192,7 @@ bool wifiConnectionTimeout()
 
 void wifiStart(char* ssid, char* pw)
 {
-#ifdef  COMPILE_WIFI
-  if (wifiState == WIFI_OFF)
-    //Turn off Bluetooth
-    bluetoothStop();
-
+#ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
     Serial.printf("Wi-Fi connecting to %s\r\n", ssid);
@@ -214,6 +210,9 @@ void wifiStart(char* ssid, char* pw)
 //See WiFiBluetoothSwitch sketch for more info
 void wifiStop()
 {
+  ntripClientStop(true);
+  ntripServerStop(true);
+
 #ifdef  COMPILE_WIFI
   stopWebServer();
   if (wifiState == WIFI_NOTCONNECTED || wifiState == WIFI_CONNECTED)

From 2fcc8d7e7e880cbb31c7d8f58c041025e68dadf4 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 5 Aug 2022 10:11:59 -0500
Subject: [PATCH 023/134] Add ESP NOW support

---
 Firmware/RTK_Surveyor/Base.ino         |  16 ++
 Firmware/RTK_Surveyor/Begin.ino        |  15 ++
 Firmware/RTK_Surveyor/Display.ino      | 142 +++++++++++---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 250 +++++++++++++++++++++++++
 Firmware/RTK_Surveyor/NVM.ino          |  49 ++++-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  73 +++++++-
 Firmware/RTK_Surveyor/States.ino       |  22 ++-
 Firmware/RTK_Surveyor/WiFi.ino         |  36 +++-
 Firmware/RTK_Surveyor/icons.h          |  14 ++
 Firmware/RTK_Surveyor/menuMain.ino     |  62 +++++-
 Firmware/RTK_Surveyor/menuMessages.ino |   6 -
 Firmware/RTK_Surveyor/settings.h       |  13 ++
 Firmware/RTK_Surveyor/support.ino      |   6 +-
 Graphics/ESP NOW Symbol-0.bmp          | Bin 0 -> 126 bytes
 Graphics/ESP NOW Symbol-1.bmp          | Bin 0 -> 126 bytes
 Graphics/ESP NOW Symbol-2.bmp          | Bin 0 -> 126 bytes
 Graphics/ESP NOW Symbol-3.bmp          | Bin 0 -> 126 bytes
 17 files changed, 657 insertions(+), 47 deletions(-)
 create mode 100644 Firmware/RTK_Surveyor/ESPNOW.ino
 create mode 100644 Graphics/ESP NOW Symbol-0.bmp
 create mode 100644 Graphics/ESP NOW Symbol-1.bmp
 create mode 100644 Graphics/ESP NOW Symbol-2.bmp
 create mode 100644 Graphics/ESP NOW Symbol-3.bmp

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index 125d6ca9b..b208014b2 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -228,4 +228,20 @@ bool startFixedBase()
 void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
 {
   ntripServerProcessRTCM(incoming);
+
+  if (wifiState == WIFI_ESPNOW_PAIRED)
+  {
+    //Move this byte into ESP NOW to send buffer
+    espnowOutgoing[espnowOutgoingSpot++] = incoming;
+    espnowLastAdd = millis();
+
+    if (espnowOutgoingSpot == sizeof(espnowOutgoing))
+    {
+      espnowOutgoingSpot = 0; //Wrap
+#ifdef COMPILE_WIFI
+      esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
+      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
+#endif
+    }
+  }
 }
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 141242f67..e8504dd72 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -834,3 +834,18 @@ void beginI2C()
   else
     Serial.println("Error: I2C Bus Not Responding");
 }
+
+//Depending on radio selection, begin hardware
+void beginRadio()
+{
+  if (settings.radioType == RADIO_EXTERNAL)
+  {
+    wifiStop();
+
+    //Nothing to start. UART2 of ZED is connected to external Radio port and is configured at configureUbloxModule()
+  }
+  else if (settings.radioType == RADIO_ESPNOW)
+  {
+    espnowStart();
+  }
+}
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 6373d6b6e..723be50dc 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2,37 +2,44 @@
 // Constants
 //----------------------------------------
 
+//A bitfield is used to flag which icon needs to be illuminated 
+//systemState will dictate most of the icons needed
+
 //Left top
-#define ICON_WIFI_SYMBOL_LEFT                1  //  0,  0
-#define ICON_DOWN_ARROW                      2  // 16,  0
-#define ICON_UP_ARROW                        4  // 16,  0
-#define ICON_BT_SYMBOL                       8  //  4,  0
-#define ICON_MAC_ADDRESS                  0x10  //  0,  3
+#define ICON_WIFI_SYMBOL_LEFT            (1<<0) //  0,  0
+#define ICON_DOWN_ARROW                  (1<<1) // 16,  0
+#define ICON_UP_ARROW                    (1<<2) // 16,  0
+#define ICON_BT_SYMBOL                   (1<<3) //  4,  0
+#define ICON_MAC_ADDRESS                 (1<<4) //  0,  3
+#define ICON_MAC_ADDRESS_2DIGIT          (1<<5) //  TODO 0,  3
+#define ICON_ESPNOW_SYMBOL               (1<<6) //  TODO 0,  3
+#define ICON_BT_SYMBOL_RIGHT             (1<<7) //  TODO 4,  0
 
 //Center top
-#define ICON_WIFI_SYMBOL_CENTER           0x20  // center, 0
-#define ICON_BASE_TEMPORARY               0x40  // 27,  0
-#define ICON_BASE_FIXED                   0x80  // 27,  0
-#define ICON_ROVER_FUSION                0x100  // 27,  2
-#define ICON_ROVER_FUSION_EMPTY          0x200  // 27,  2
-#define ICON_DYNAMIC_MODEL               0x400  // 27,  0
+#define ICON_WIFI_SYMBOL_CENTER          (1<<8) // center, 0
+#define ICON_BASE_TEMPORARY              (1<<9) // 27,  0
+#define ICON_BASE_FIXED                  (1<<10) // 27,  0
+#define ICON_ROVER_FUSION                (1<<11) // 27,  2
+#define ICON_ROVER_FUSION_EMPTY          (1<<12) // 27,  2
+#define ICON_DYNAMIC_MODEL               (1<<13) // 27,  0
 
 //Right top
-#define ICON_BATTERY                     0x800  // 45,  0
+#define ICON_BATTERY                     (1<<14) // 45,  0
 
 //Left center
-#define ICON_CROSS_HAIR                 0x1000  //  0, 18
-#define ICON_CROSS_HAIR_DUAL            0x2000  //  0, 18
+#define ICON_CROSS_HAIR                  (1<<15) //  0, 18
+#define ICON_CROSS_HAIR_DUAL             (1<<16) //  0, 18
 
 //Right center
-#define ICON_HORIZONTAL_ACCURACY        0x4000  // 16, 20
+#define ICON_HORIZONTAL_ACCURACY         (1<<17) // 16, 20
 
 //Left bottom
-#define ICON_SIV_ANTENNA                0x8000  //  2, 35
-#define ICON_SIV_ANTENNA_LBAND         0x10000  //  2, 35
+#define ICON_SIV_ANTENNA                 (1<<18) //  2, 35
+#define ICON_SIV_ANTENNA_LBAND           (1<<19) //  2, 35
 
 //Right bottom
-#define ICON_LOGGING                   0x20000  // right, bottom
+#define ICON_LOGGING                     (1<<20) // right, bottom
+
 
 //----------------------------------------
 // Locals
@@ -322,6 +329,7 @@ void updateDisplay()
       }
 
       //Top left corner
+      //This is not as if/else if. A variety of symbols may be mixed/matched
       if (icons & ICON_WIFI_SYMBOL_LEFT)
       {
         displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol);
@@ -333,7 +341,7 @@ void updateDisplay()
         else if (icons & ICON_UP_ARROW)
           displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
       }
-      else if (icons & ICON_BT_SYMBOL)
+      if (icons & ICON_BT_SYMBOL)
       {
         displayBitmap(4, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
         if (bluetoothGetState() == BT_CONNECTED)
@@ -347,7 +355,12 @@ void updateDisplay()
             displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
         }
       }
-      else if (icons & ICON_MAC_ADDRESS)
+      if (icons & ICON_BT_SYMBOL_RIGHT)
+      {
+        //Moved to right to give space for ESP NOW icon on far left
+        displayBitmap(10, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
+      }
+      if (icons & ICON_MAC_ADDRESS)
       {
         char macAddress[5];
 #ifdef COMPILE_BT
@@ -359,6 +372,21 @@ void updateDisplay()
         oled.setCursor(0, 3);
         oled.print(macAddress);
       }
+      if (icons & ICON_MAC_ADDRESS_2DIGIT)
+      {
+        char macAddress[5];
+        //Print only last two digits of MAC
+#ifdef COMPILE_BT
+        sprintf(macAddress, "%02X", unitMACAddress[5]);
+#else
+        sprintf(macAddress, "%02X", 0, 0); //If BT is not available, print zeroes
+#endif
+        oled.setFont(QW_FONT_5X7); //Set font to smallest
+        oled.setCursor(9, 3);
+        oled.print(macAddress);
+      }
+      if (icons & ICON_ESPNOW_SYMBOL)
+        paintESPNOW(); //Paint animated icon for tx, static icon for rx based on RSSI
 
       //Top center
       if (icons & ICON_WIFI_SYMBOL_CENTER)
@@ -571,7 +599,7 @@ void paintBatteryLevel()
    8|      *            **
 */
 
-//Display Bluetooth icon, Bluetooth MAC, or WiFi depending on connection state
+//Display Bluetooth icon, Bluetooth MAC, WiFi, or ESP NOW depending on connection state
 uint32_t paintWirelessIcon()
 {
   uint32_t icons;
@@ -581,7 +609,7 @@ uint32_t paintWirelessIcon()
   if (online.display == true)
   {
     //Bluetooth icon if paired, or Bluetooth MAC address if not paired
-    if (bluetoothGetState() == BT_CONNECTED)
+    if (bluetoothGetState() == BT_CONNECTED && wifiState == WIFI_OFF)
     {
       icons = ICON_BT_SYMBOL;
       if (systemState <= STATE_BASE_NOT_STARTED)
@@ -609,6 +637,39 @@ uint32_t paintWirelessIcon()
       else if (online.ntripServer == true)
         icons |= ICON_UP_ARROW;
     }
+    else if (wifiState == WIFI_ESPNOW_PAIRED)
+    {
+      //If ESPNOW is on, and we are in base mode, show animated icon
+      if(systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+      {
+        //Display ESPNOW and BT (either MAC or symbol)
+        icons = ICON_ESPNOW_SYMBOL;
+        if (bluetoothGetState() == BT_CONNECTED)
+          icons |= ICON_BT_SYMBOL_RIGHT;
+        else
+          icons |= ICON_MAC_ADDRESS_2DIGIT;
+      }
+      
+      //If ESPNOW is on, and we've received a packet, move BT to make room
+      else if (espnowRSSI > -255)
+      {
+        //Display ESPNOW and BT (either MAC or symbol)
+        icons = ICON_ESPNOW_SYMBOL;
+        if (bluetoothGetState() == BT_CONNECTED)
+          icons |= ICON_BT_SYMBOL_RIGHT;
+        else
+          icons |= ICON_MAC_ADDRESS_2DIGIT; //Display 2 digit MAC
+      }
+
+      //No ESPNOW icon
+      else
+      {
+        if (bluetoothGetState() == BT_CONNECTED)
+          icons = ICON_BT_SYMBOL;
+        else
+          icons = ICON_MAC_ADDRESS; //Display full MAC
+      }
+    }
     else
       icons = ICON_MAC_ADDRESS;
   }
@@ -907,6 +968,43 @@ void paintLogging()
   }
 }
 
+//Animate the ESP NOW icon if we are actively transmitting
+//Otherwise, show static icon with level indicating RSSI
+void paintESPNOW()
+{
+  const uint8_t x = 0;
+
+  //Determine if we transitting or receiving
+  if (millis() - espnowLastAdd < 1000)
+  {
+    //We are actively sending out bytes, animate the icon
+    //Animate icon to show data is being transmitted
+    espnowIconDisplayed++; //Goto next icon
+    espnowIconDisplayed %= 4; //Wrap
+
+    if (espnowIconDisplayed == 0)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
+    else if (espnowIconDisplayed == 1)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
+    else if (espnowIconDisplayed == 2)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
+    else if (espnowIconDisplayed == 3)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
+  }
+  else
+  {
+    //We are receiving data, adjust icon according to RSSI
+    if (espnowRSSI >= -40)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
+    else if (espnowRSSI >= -60)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
+    else if (espnowRSSI >= -80)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
+    else if (espnowRSSI > -255)
+      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
+  }
+}
+
 //Survey in is running. Show 3D Mean and elapsed time.
 void paintBaseTempSurveyStarted()
 {
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
new file mode 100644
index 000000000..a3b4c6142
--- /dev/null
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -0,0 +1,250 @@
+/*
+  Use ESP NOW protocol to transmit RTCM between RTK Products via 2.4GHz
+
+  How pairing works:
+    1. Device enters pairing mode
+    2. Device adds the broadcast MAC (all 0xFFs) as peer
+    3. Device waits for incoming pairing packet from remote
+    4. If valid pairing packet received, add peer, immediately transmit a pairing packet to that peer and exit.
+
+    ESP NOW is bare metal, there is no guaranteed packet delivery. For RTCM byte transmissions using ESP NOW:
+      We don't care about dropped packets or packets out of order. The ZED will check the integrity of the RTCM packet.
+      We don't care if the ESP NOW packet is corrupt or not. RTCM has its own CRC. RTK needs valid RTCM once every
+      few seconds so a single dropped frame is not critical.
+*/
+
+
+//Create a struct for ESP NOW pairing
+typedef struct PairMessage {
+  uint8_t macAddress[6];
+  bool encrypt;
+  uint8_t channel;
+  uint8_t crc; //Simple check - add MAC together and limit to 8 bit
+} PairMessage;
+
+// Callback when data is sent
+#ifdef COMPILE_WIFI
+void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
+{
+  //  Serial.print("Last Packet Send Status: ");
+  //  if (status == ESP_NOW_SEND_SUCCESS)
+  //    Serial.println("Delivery Success");
+  //  else
+  //    Serial.println("Delivery Fail");
+}
+#endif
+
+// Callback when data is received
+void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int len)
+{
+#ifdef COMPILE_WIFI
+  if (wifiState == WIFI_ESPNOW_PAIRING)
+  {
+    if (len == sizeof(PairMessage)) //First error check
+    {
+      PairMessage pairMessage;
+      memcpy(&pairMessage, incomingData, sizeof(pairMessage));
+
+      //Check CRC
+      uint8_t tempCRC = 0;
+      for (int x = 0 ; x < 6 ; x++)
+        tempCRC += pairMessage.macAddress[x];
+
+      if (tempCRC == pairMessage.crc) //2nd error check
+      {
+        //Record this MAC to peer list
+        memcpy(settings.espnowPeers[settings.espnowPeerCount++], &pairMessage.macAddress, 6);
+        settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
+
+        wifiSetState(WIFI_ESPNOW_MAC_RECEIVED);
+      }
+      //else Pair CRC failed
+    }
+  }
+  else
+  {
+    espnowRSSI = packetRSSI; //Record this packets RSSI as an ESP NOW packet
+
+    //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
+    serialGNSS.write(incomingData, len);
+    log_d("ESPNOW: Rececived %d bytes, RSSI: %d", len, espnowRSSI);
+
+    online.rxRtcmCorrectionData = true;
+    lastEspnowRssiUpdate = millis();
+  }
+#endif
+}
+
+// Callback for all RX Packets
+// Get RSSI of all incoming management packets: https://esp32.com/viewtopic.php?t=13889
+#ifdef COMPILE_WIFI
+void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
+{
+  // All espnow traffic uses action frames which are a subtype of the mgmnt frames so filter out everything else.
+  if (type != WIFI_PKT_MGMT)
+    return;
+
+  const wifi_promiscuous_pkt_t *ppkt = (wifi_promiscuous_pkt_t *)buf;
+  packetRSSI = ppkt->rx_ctrl.rssi;
+}
+#endif
+
+void espnowStart()
+{
+#ifdef COMPILE_WIFI
+  // If we are in WIFI_OFF or WIFI_ON, CONNECTED, NOTCONNECTED, doesn't matter
+  // General WiFi will be turned off/disconnected and replaced by ESP NOW
+
+  // Set device as a Wi-Fi Station
+  WiFi.mode(WIFI_STA);
+
+  // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
+  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
+
+  // Init ESP-NOW
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+
+  // Use promiscuous callback to capture RSSI of packet
+  esp_wifi_set_promiscuous(true);
+  esp_wifi_set_promiscuous_rx_cb(&promiscuous_rx_cb);
+
+  // Register send callbacks
+  esp_now_register_send_cb(espnowOnDataSent);
+  esp_now_register_recv_cb(espnowOnDataRecieved);
+
+  if (settings.espnowPeerCount == 0)
+  {
+    wifiSetState(WIFI_ESPNOW_ON);
+  }
+  else
+  {
+    //If we already have peers, move to paired state
+    wifiSetState(WIFI_ESPNOW_PAIRED);
+
+    log_d("Adding %d espnow peers", settings.espnowPeerCount);
+    for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+    {
+      esp_err_t result = espnowAddPeer(settings.espnowPeers[x]); // Enable encryption to peers
+      if (result != ESP_OK)
+        log_d("Failed to add peer #%d\n\r", x);
+    }
+  }
+
+#else
+  Serial.println("Error - WiFi not compiled");
+#endif
+}
+
+//Begin broadcasting our MAC and wait for remote unit to respond
+void espnowBeginPairing()
+{
+#ifndef COMPILE_WIFI  
+  return;
+#endif
+
+  if (wifiState != WIFI_ESPNOW_ON
+      || wifiState != WIFI_ESPNOW_PAIRING
+      || wifiState != WIFI_ESPNOW_MAC_RECEIVED
+      || wifiState != WIFI_ESPNOW_PAIRED
+     )
+  {
+    espnowStart();
+  }
+
+  // To begin pairing, we must add the broadcast MAC to the peer list
+  uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+  espnowAddPeer(broadcastMac, false); // Encryption is not supported for multicast addresses
+
+  wifiSetState(WIFI_ESPNOW_PAIRING);
+
+  //Begin sending our MAC every 250ms until a remote device sends us there info
+  randomSeed(millis());
+
+  Serial.println("Begin pairing. Place other unit in pairing mode. Press any key to exit.");
+  while (Serial.available()) Serial.read();
+
+  while (1)
+  {
+    if (Serial.available()) break;
+
+    int timeout = 1000 + random(0, 100); //Delay 1000 to 1100ms
+    for (int x = 0 ; x < timeout ; x++)
+    {
+      delay(1);
+
+      if (wifiState == WIFI_ESPNOW_MAC_RECEIVED)
+      {
+        //Add new peer to system
+        espnowAddPeer(settings.espnowPeers[settings.espnowPeerCount - 1]);
+
+        //Send message directly to the last peer stored (not unicast), then exit
+        espnowSendPairMessage(settings.espnowPeers[settings.espnowPeerCount - 1]);
+
+        wifiSetState(WIFI_ESPNOW_PAIRED);
+        Serial.println("Pairing compete");
+        return;
+      }
+    }
+
+    uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+    espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
+
+    Serial.println("Scanning for other radio...");
+  }
+
+  Serial.println("User pressed button. Pairing canceled.");
+}
+
+//Create special pair packet to a given MAC
+esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
+{
+#ifdef COMPILE_WIFI
+  // Assemble message to send
+  PairMessage pairMessage;
+
+  //Get unit MAC address
+  uint8_t unitMACAddress[6];
+  esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
+  memcpy(pairMessage.macAddress, unitMACAddress, 6);
+  pairMessage.encrypt = false;
+  pairMessage.channel = 0;
+
+  pairMessage.crc = 0; //Calculate CRC
+  for (int x = 0 ; x < 6 ; x++)
+    pairMessage.crc += unitMACAddress[x];
+
+  return (esp_now_send(sendToMac, (uint8_t *) &pairMessage, sizeof(pairMessage))); //Send packet to given MAC
+#else
+  return (ESP_OK);
+#endif
+}
+
+//Add a given MAC address to the peer list
+esp_err_t espnowAddPeer(uint8_t *peerMac)
+{
+  return (espnowAddPeer(peerMac, true)); //Encrypt by default
+}
+
+esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
+{
+#ifdef COMPILE_WIFI
+  esp_now_peer_info_t peerInfo;
+
+  memcpy(peerInfo.peer_addr, peerMac, 6);
+  peerInfo.channel = 0;
+  peerInfo.ifidx = WIFI_IF_STA;
+  //memcpy(peerInfo.lmk, "RTKProductsLMK56", 16);
+  //peerInfo.encrypt = true;
+  peerInfo.encrypt = false;
+
+  esp_err_t result = esp_now_add_peer(&peerInfo);
+  if (result != ESP_OK)
+    log_d("Failed to add peer");
+  return (result);
+#else
+  return (ESP_OK);
+#endif
+}
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 4380f2d44..890477f5c 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -250,6 +250,22 @@ void recordSystemSettingsToFile(File * settingsFile)
   settingsFile->printf("%s=%d\n\r", "enablePrintNtripClientRtcm", settings.enablePrintNtripClientRtcm);
   settingsFile->printf("%s=%d\n\r", "enablePrintStates", settings.enablePrintStates);
   settingsFile->printf("%s=%d\n\r", "enablePrintDuplicateStates", settings.enablePrintDuplicateStates);
+  settingsFile->printf("%s=%d\n\r", "radioType", settings.radioType);
+  //Record peer MAC addresses
+  for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+  {
+    char tempString[50]; //espnowPeers.1=B4,C1,33,42,DE,01,
+    sprintf(tempString, "espnowPeers.%d=%02X,%02X,%02X,%02X,%02X,%02X,", x,
+            settings.espnowPeers[x][0],
+            settings.espnowPeers[x][1],
+            settings.espnowPeers[x][2],
+            settings.espnowPeers[x][3],
+            settings.espnowPeers[x][4],
+            settings.espnowPeers[x][5]
+           );
+    settingsFile->println(tempString);
+  }
+  settingsFile->printf("%s=%d\n\r", "espnowPeerCount", settings.espnowPeerCount);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -840,7 +856,12 @@ bool parseLine(char* str, Settings *settings)
     settings->enablePrintStates = d;
   else if (strcmp(settingName, "enablePrintDuplicateStates") == 0)
     settings->enablePrintDuplicateStates = d;
-  //Check for bulk settings (constellations and message rates)
+  else if (strcmp(settingName, "radioType") == 0)
+    settings->radioType = (radioType_e)d;
+  else if (strcmp(settingName, "espnowPeerCount") == 0)
+    settings->espnowPeerCount = d;
+
+  //Check for bulk settings (constellations, message rates, ESPNOW Peers)
   //Must be last on else list
   else
   {
@@ -890,6 +911,32 @@ bool parseLine(char* str, Settings *settings)
       }
     }
 
+    //Scan for ESPNOW peers
+    if (knownSetting == false)
+    {
+      for (int x = 0 ; x < ESPNOW_MAX_PEERS ; x++)
+      {
+        char tempString[50]; //espnowPeers.1=B4,C1,33,42,DE,01,
+        sprintf(tempString, "espnowPeers.%d", x);
+
+        if (strcmp(settingName, tempString) == 0)
+        {
+          uint8_t macAddress[6];
+          uint8_t macByte = 0;
+          
+          char* token = strtok(settingValue, ","); //Break string up on ,
+          while(token != NULL && macByte < sizeof(macAddress))
+          {
+            settings->espnowPeers[x][macByte++] = (uint8_t)strtol(token, NULL, 16);
+            token = strtok(NULL, ",");    
+          }
+
+          knownSetting = true;
+          break;
+        }
+      }
+    }
+
     //Last catch
     if (knownSetting == false)
     {
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index f65721ceb..036f79112 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -8,7 +8,7 @@
 
   Compiled with Arduino v1.8.15 with ESP32 core v2.0.2.
 
-  For compilation instructions see https://sparkfun.github.io/SparkFun_RTK_Firmware/firmware_update/#compiling-from-source
+  For compilation instructions see https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#compiling-source
 
   Special thanks to Avinab Malla for guidance on getting xTasks implemented.
 
@@ -23,12 +23,12 @@
 */
 
 const int FIRMWARE_VERSION_MAJOR = 2;
-const int FIRMWARE_VERSION_MINOR = 3;
+const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
-//#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
+#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us
@@ -130,6 +130,15 @@ const TickType_t fatSemaphore_longWait_ms = 200 / portTICK_PERIOD_MS;
 uint32_t sdCardSizeMB = 0;
 uint32_t sdFreeSpaceMB = 0;
 uint32_t sdUsedSpaceMB = 0;
+
+//Controls Logging Icon type
+typedef enum LoggingType {
+  LOGGING_UNKNOWN = 0,
+  LOGGING_STANDARD,
+  LOGGING_PPP,
+  LOGGING_CUSTOM
+} LoggingType;
+LoggingType loggingType = LOGGING_UNKNOWN;
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 //Connection settings to NTRIP Caster
@@ -336,6 +345,26 @@ void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct);
 float lBandEBNO = 0.0; //Used on system status menu
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
+//ESP NOW for multipoint wireless broadcasting over 2.4GHz
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+#ifdef COMPILE_WIFI
+
+#include <esp_now.h>
+#include "esp_wifi.h" //Needed for esp_wifi_set_protocol()
+
+#endif
+
+uint8_t espnowOutgoing[250]; //ESP NOW has max of 250 characters
+unsigned long espnowLastAdd; //Tracks how long since last byte was added to the outgoing buffer
+uint8_t espnowOutgoingSpot = 0;
+
+int espnowRSSI = 0;
+int packetRSSI = 0;
+unsigned long lastEspnowRssiUpdate = 0;
+
+const uint8_t ESPNOW_MAX_PEERS = 5; //Maximum of 5 rovers
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
 //Global variables
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
@@ -364,7 +393,8 @@ uint32_t lastPrintPosition = 0; //For periodic display of the position
 
 uint32_t lastBaseIconUpdate = 0;
 bool baseIconDisplayed = false; //Toggles as lastBaseIconUpdate goes above 1000ms
-int loggingIconDisplayed = 0; //Increases every 500ms while logging
+uint8_t loggingIconDisplayed = 0; //Increases every 500ms while logging
+uint8_t espnowIconDisplayed = 0; //Increases every 500ms while transmitting
 
 uint64_t lastLogSize = 0;
 bool logIncreasing = false; //Goes true when log file is greater than lastLogSize
@@ -425,7 +455,6 @@ uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
 uint64_t uptime;
 uint32_t previousMilliseconds;
-
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*
                      +---------------------------------------+      +----------+
@@ -538,6 +567,8 @@ void setup()
 
   beginSystemState(); //Determine initial system state. Start task for button monitoring.
 
+  beginRadio(); //Start internal radio if enabled
+
   updateRTC(); //The GNSS likely has time/date. Update ESP32 RTC to match. Needed for PointPerfect key expiration.
 
   Serial.flush(); //Complete any previous prints
@@ -576,6 +607,8 @@ void loop()
 
   updateLBand(); //Check if we've recently received PointPerfect corrections or not
 
+  updateRadio(); //Check if we need to finish sending any RTCM over link radio
+
   //Periodically print the position
   if (settings.enablePrintPosition && ((millis() - lastPrintPosition) > 15000))
   {
@@ -597,6 +630,8 @@ void updateLogs()
   if (online.logging == false && settings.enableLogging == true)
   {
     beginLogging();
+
+    setLoggingType(); //Determine if we are standard, PPP, or custom. Changes logging icon accordingly.
   }
   else if (online.logging == true && settings.enableLogging == false)
   {
@@ -791,7 +826,31 @@ void updateRTC()
   } //End online.rtc
 }
 
-void printElapsedTime(const char* title)
+//Called from main loop
+//Control incoming/outgoing RTCM data from:
+//External radio - this is normally a serial telemetry radio hung off the RADIO port
+//Internal ESP NOW radio - Use the ESP32 to directly transmit/receive RTCM over 2.4GHz (no WiFi needed)
+void updateRadio()
 {
-  Serial.printf("%s: %ld\n\r", title, millis() - startTime);
+  if (settings.radioType == RADIO_ESPNOW)
+  {
+    if (wifiState == WIFI_ESPNOW_PAIRED)
+    {
+      //If it's been longer than a few ms since we last added a byte to the buffer
+      //then we've reached the end of the RTCM stream. Send partial buffer.
+      if (espnowOutgoingSpot > 0 && (millis() - espnowLastAdd) > 50)
+      {
+#ifdef COMPILE_WIFI
+        esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
+        log_d("ESPNOW: Sending %d bytes", espnowOutgoingSpot);
+#endif
+        espnowOutgoingSpot = 0; //Reset
+      }
+
+      //If we don't receive an ESP NOW packet after some time, set RSSI to very negative
+      //This removes the ESPNOW icon from the display when the link goes down
+      if (millis() - lastEspnowRssiUpdate > 5000 && espnowRSSI > -255)
+        espnowRSSI = -255;
+    }
+  }
 }
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 784e46792..bbba8e0f9 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -28,7 +28,7 @@ void updateSystemState()
 
     if (settings.enablePrintState && ((millis() - lastStateTime) > 15000))
     {
-      changeState (systemState);
+      changeState(systemState);
       lastStateTime = millis();
     }
 
@@ -332,6 +332,12 @@ void updateSystemState()
               ntripServerStart();
             }
 
+            //TODO select either or WiFi or ESP NOW
+            if (settings.radioType == RADIO_ESPNOW)
+            {
+              espnowStart();
+            }
+
             rtcmPacketsSent = 0; //Reset any previous number
             changeState(STATE_BASE_TEMP_TRANSMITTING);
           }
@@ -357,7 +363,7 @@ void updateSystemState()
         }
         break;
 
-      //Leave base temp transmitting if user has enabled WiFi/NTRIP
+      //Leave base temp transmitting over external radio, or WiFi/NTRIP, or ESP NOW
       case (STATE_BASE_TEMP_TRANSMITTING):
         {
         }
@@ -391,6 +397,14 @@ void updateSystemState()
             if (productVariant == RTK_SURVEYOR)
               digitalWrite(pin_baseStatusLED, HIGH); //Turn on base LED
 
+            //TODO shouldn't NtripServer be here?
+
+            //TODO select either or WiFi or ESP NOW
+            if (settings.radioType == RADIO_ESPNOW)
+            {
+              espnowStart();
+            }
+
             changeState(STATE_BASE_FIXED_TRANSMITTING);
           }
           else
@@ -738,7 +752,7 @@ void updateSystemState()
           byte wifiStatus = wifiGetStatus();
           if (wifiStatus == WL_CONNECTED)
           {
-            wifiState = WIFI_CONNECTED;
+            wifiSetState(WIFI_CONNECTED);
 
             changeState(STATE_KEYS_WIFI_CONNECTED);
           }
@@ -848,7 +862,7 @@ void updateSystemState()
           byte wifiStatus = wifiGetStatus();
           if (wifiStatus == WL_CONNECTED)
           {
-            wifiState = WIFI_CONNECTED;
+            wifiSetState(WIFI_CONNECTED);
 
             changeState(STATE_KEYS_PROVISION_WIFI_CONNECTED);
           }
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 2b65f585e..47968c4d2 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -1,5 +1,5 @@
 /*=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-WiFi Status Values:
+  WiFi Status Values:
     WL_CONNECTED: assigned when connected to a WiFi network
     WL_CONNECTION_LOST: assigned when the connection is lost
     WL_CONNECT_FAILED: assigned when the connection fails for all the attempts
@@ -12,7 +12,7 @@ WiFi Status Values:
     WL_NO_SSID_AVAIL: assigned when no SSID are available
     WL_SCAN_COMPLETED: assigned when the scan networks is completed
 
-WiFi Station States:
+  WiFi Station States:
 
                                   WIFI_OFF (Using Bluetooth)
                                     |   ^
@@ -38,7 +38,7 @@ WiFi Station States:
                                     v   |
                                   WIFI_CONNECTED
 
-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
+  =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
 //----------------------------------------
 // Constants
@@ -128,7 +128,19 @@ void wifiSetState (byte newState)
     case WIFI_CONNECTED:
       Serial.println("WIFI_CONNECTED");
       break;
-    }
+    case WIFI_ESPNOW_ON:
+      Serial.println("WIFI_ESPNOW_ON");
+      break;
+    case WIFI_ESPNOW_PAIRING:
+      Serial.println("WIFI_ESPNOW_PAIRING");
+      break;
+    case WIFI_ESPNOW_MAC_RECEIVED:
+      Serial.println("WIFI_ESPNOW_MAC_RECEIVED");
+      break;
+    case WIFI_ESPNOW_PAIRED:
+      Serial.println("WIFI_ESPNOW_PAIRED");
+      break;
+  }
 }
 
 //----------------------------------------
@@ -145,6 +157,9 @@ void wifiStartAP()
 #define WIFI_PASSWORD "parachutes"
   WiFi.mode(WIFI_STA);
 
+  // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
+  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+
   WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
   Serial.print("Wi-Fi connecting to");
   while (wifiGetStatus() != WL_CONNECTED)
@@ -158,6 +173,9 @@ void wifiStartAP()
   //Start in AP mode
   WiFi.mode(WIFI_AP);
 
+  // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
+  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+
   IPAddress local_IP(192, 168, 4, 1);
   IPAddress gateway(192, 168, 1, 1);
   IPAddress subnet(255, 255, 0, 0);
@@ -215,7 +233,15 @@ void wifiStop()
 
 #ifdef  COMPILE_WIFI
   stopWebServer();
-  if (wifiState == WIFI_NOTCONNECTED || wifiState == WIFI_CONNECTED)
+
+  //If the WiFi is in a state where WiFi has been configured/on, turn it off
+  if (wifiState == WIFI_NOTCONNECTED
+      || wifiState == WIFI_CONNECTED
+      || wifiState == WIFI_ESPNOW_ON
+      || wifiState == WIFI_ESPNOW_PAIRING
+      || wifiState == WIFI_ESPNOW_MAC_RECEIVED
+      || wifiState == WIFI_ESPNOW_PAIRED
+     )
   {
     WiFi.mode(WIFI_OFF);
     wifiSetState(WIFI_OFF);
diff --git a/Firmware/RTK_Surveyor/icons.h b/Firmware/RTK_Surveyor/icons.h
index d5ca49ff5..85e00d67f 100644
--- a/Firmware/RTK_Surveyor/icons.h
+++ b/Firmware/RTK_Surveyor/icons.h
@@ -827,4 +827,18 @@ uint8_t logoSparkFun [] = {
 };
 int logoSparkFun_Height = 48;
 int logoSparkFun_Width = 64;
+
+uint8_t ESPNOW_Symbol_3 [] = {
+  0xE0, 0x40, 0x10, 0xE4, 0x09, 0xF2, 0x04, 0xF8, 0x00, 0x00, 0x01, 0x04, 0x12, 0x09, 0x04, 0x03
+};
+uint8_t ESPNOW_Symbol_2 [] = {
+  0xE0, 0x40, 0x10, 0xE4, 0x08, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x02, 0x01, 0x00, 0x00
+};
+uint8_t ESPNOW_Symbol_1 [] = {
+  0xE0, 0x40, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00
+};
+uint8_t ESPNOW_Symbol_0 [] = {
+  0xE0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+};
+int ESPNOW_Symbol_Height = 13;
 int ESPNOW_Symbol_Width = 8;
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 92505e297..1b8eeb9d8 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -53,6 +53,8 @@ void menuMain()
 
     Serial.println("p) Configure Profiles");
 
+    Serial.println("r) Configure Radios");
+
     if (online.lband == true)
       Serial.println("P) Configure PointPerfect");
 
@@ -83,6 +85,8 @@ void menuMain()
       menuUserProfiles();
     else if (incoming == 'P' && online.lband == true)
       menuPointPerfect();
+    else if (incoming == 'r')
+      menuRadio();
     else if (incoming == 'f' && binCount > 0)
       menuFirmware();
     else if (incoming == 'x')
@@ -258,7 +262,7 @@ void factoryReset()
 {
   displaySytemReset(); //Display friendly message on OLED
 
-  Serial.println("Formatting settings file system...");
+  Serial.println("Formatting file system...");
   LittleFS.format();
 
   //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
@@ -286,3 +290,59 @@ void factoryReset()
   delay(2000);
   ESP.restart();
 }
+
+//Configure the internal radio, if available
+void menuRadio()
+{
+  int menuTimeoutExtended = 30; //Increase time needed for complex data entry (mount point ID, ECEF coords, etc).
+
+  while (1)
+  {
+    Serial.println();
+    Serial.println("Menu: Radio Menu");
+
+    Serial.print("1) Select Radio Type: ");
+    if (settings.radioType == RADIO_EXTERNAL) Serial.println("External only");
+    else if (settings.radioType == RADIO_ESPNOW) Serial.println("Internal ESP NOW");
+
+    if (settings.radioType == RADIO_ESPNOW)
+    {
+      //Pretty print the MAC of paired radios
+      for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+      {
+        Serial.printf("\tPaired Radio %d: ", x);
+        for (int y = 0 ; y < 5 ; y++)
+          Serial.printf("%02X:", settings.espnowPeers[x][y]);
+        Serial.printf("%02X\n\r", settings.espnowPeers[x][5]);
+      }
+
+      Serial.println("2) Pair radios");
+    }
+
+    Serial.println("x) Exit");
+
+    int incoming = getNumber(menuTimeout); //Timeout after x seconds
+
+    if (incoming == 1)
+    {
+      if (settings.radioType == RADIO_EXTERNAL) settings.radioType = RADIO_ESPNOW;
+      else if (settings.radioType == RADIO_ESPNOW) settings.radioType = RADIO_EXTERNAL;
+    }
+    else if (settings.radioType == RADIO_ESPNOW && incoming == 2)
+    {
+      Serial.println("Begin ESP NOW Pairing");
+      espnowBeginPairing();
+    }
+
+    else if (incoming == STATUS_PRESSED_X)
+      break;
+    else if (incoming == STATUS_GETNUMBER_TIMEOUT)
+      break;
+    else
+      printUnknown(incoming);
+  }
+
+  beginRadio();
+  
+  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+}
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index b0583bf4f..4b23b6264 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -635,8 +635,6 @@ void setLoggingType()
   loggingType = LOGGING_CUSTOM;
 
   int messageCount = getActiveMessageCount();
-  Serial.printf("message count %d\n\r", messageCount);
-
   if (messageCount == 5 || messageCount == 7)
   {
     if (getMessageRateByName("UBX_NMEA_GGA") > 0
@@ -647,13 +645,9 @@ void setLoggingType()
        )
     {
       loggingType = LOGGING_STANDARD;
-      Serial.println("Logging type standard");
 
       if (getMessageRateByName("UBX_RXM_RAWX") > 0 && getMessageRateByName("UBX_RXM_SFRBX") > 0)
-      {
         loggingType = LOGGING_PPP;
-        Serial.println("Logging type PPP");
-      }
     }
   }
 }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 4a540654b..60062616a 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -108,6 +108,10 @@ enum WiFiState
   WIFI_ON,
   WIFI_NOTCONNECTED,
   WIFI_CONNECTED,
+  WIFI_ESPNOW_ON,
+  WIFI_ESPNOW_PAIRING,
+  WIFI_ESPNOW_MAC_RECEIVED,
+  WIFI_ESPNOW_PAIRED,
 };
 volatile byte wifiState = WIFI_OFF;
 
@@ -149,6 +153,12 @@ enum RtcmTransportState
   RTCM_TRANSPORT_STATE_CHECK_CRC
 };
 
+typedef enum radioType_e
+{
+  RADIO_EXTERNAL = 0,
+  RADIO_ESPNOW,
+} radioType_e;
+
 //Radio status LED goes from off (LED off), no connection (blinking), to connected (solid)
 enum BTState
 {
@@ -441,6 +451,9 @@ typedef struct {
   bool enablePrintNtripClientRtcm = false;
   bool enablePrintStates = true;
   bool enablePrintDuplicateStates = false;
+  radioType_e radioType = RADIO_EXTERNAL;
+  uint8_t espnowPeers[5][6]; //Max of 5 peers. Contains the MAC addresses (6 bytes) of paired units
+  uint8_t espnowPeerCount;
 } Settings;
 Settings settings;
 
diff --git a/Firmware/RTK_Surveyor/support.ino b/Firmware/RTK_Surveyor/support.ino
index 20369b17d..d57e1b3c6 100644
--- a/Firmware/RTK_Surveyor/support.ino
+++ b/Firmware/RTK_Surveyor/support.ino
@@ -1,3 +1,8 @@
+void printElapsedTime(const char* title)
+{
+  Serial.printf("%s: %ld\n\r", title, millis() - startTime);
+}
+
 void printDebug(String thingToPrint)
 {
   if (settings.printDebugMessages == true)
@@ -430,4 +435,3 @@ void printTimeStamp()
     previousMilliseconds = currentMilliseconds;
   }
 }
-
diff --git a/Graphics/ESP NOW Symbol-0.bmp b/Graphics/ESP NOW Symbol-0.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..3e85c99db49be42818c041ee21c770c3a0262a41
GIT binary patch
literal 126
zcmZ?rtz&=yJ0PV2#2i2@0K|+8EI<+hj_@%sfG`t~3&Q__07OA#ag!i(1c4YtV*>!H
CQV3-L

literal 0
HcmV?d00001

diff --git a/Graphics/ESP NOW Symbol-1.bmp b/Graphics/ESP NOW Symbol-1.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..6a390c4e5bd264f502c64277f75aee8e677e181f
GIT binary patch
literal 126
zcmZ?rtz&=yJ0PV2#2i2@0K|+8EI<+hj_@%sfG`t~3&Q__07OA#agabm1Q;0@1c4Yt
JgAGMf3IMJH2#5dx

literal 0
HcmV?d00001

diff --git a/Graphics/ESP NOW Symbol-2.bmp b/Graphics/ESP NOW Symbol-2.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..33e157be722ff027b12d0951af25fbf8c9a03569
GIT binary patch
literal 126
zcmZ?rtz&=yJ0PV2#2i2@0K|+8EI<+hj_@%sfG`t~3&Q__07OA#(MU!RA83LABM>n%
Q2m&#P2Jyk-V0nlh0I~ZBuK)l5

literal 0
HcmV?d00001

diff --git a/Graphics/ESP NOW Symbol-3.bmp b/Graphics/ESP NOW Symbol-3.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..88b9b60bcb71839631a9f5c14044f94ea238152f
GIT binary patch
literal 126
zcmZ?rtz&=yJ0PV2#2i2@0K|+8EI<+hj_@%sfG`t~3&Q__07OA#VI)KsP$Q5b03;b1
UfrwEMh(R=n4;BZ@1DQZ&0J%O0_y7O^

literal 0
HcmV?d00001


From c8ba55027dc50199fa7bb34ed2db628bfc572e01 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 5 Aug 2022 11:08:13 -0500
Subject: [PATCH 024/134] Ignore duplicate ESP NOW peers

---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 46 +++++++++++++++++++-------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  3 +-
 2 files changed, 36 insertions(+), 13 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index a3b4c6142..adb17298c 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -52,10 +52,7 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
 
       if (tempCRC == pairMessage.crc) //2nd error check
       {
-        //Record this MAC to peer list
-        memcpy(settings.espnowPeers[settings.espnowPeerCount++], &pairMessage.macAddress, 6);
-        settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
-
+        memcpy(&receivedMAC, pairMessage.macAddress, 6);
         wifiSetState(WIFI_ESPNOW_MAC_RECEIVED);
       }
       //else Pair CRC failed
@@ -66,10 +63,10 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
     espnowRSSI = packetRSSI; //Record this packets RSSI as an ESP NOW packet
 
     //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
-    serialGNSS.write(incomingData, len);
+    //serialGNSS.write(incomingData, len);
     log_d("ESPNOW: Rececived %d bytes, RSSI: %d", len, espnowRSSI);
 
-    online.rxRtcmCorrectionData = true;
+    //online.rxRtcmCorrectionData = true;
     lastEspnowRssiUpdate = millis();
   }
 #endif
@@ -141,7 +138,7 @@ void espnowStart()
 //Begin broadcasting our MAC and wait for remote unit to respond
 void espnowBeginPairing()
 {
-#ifndef COMPILE_WIFI  
+#ifndef COMPILE_WIFI
   return;
 #endif
 
@@ -177,11 +174,24 @@ void espnowBeginPairing()
 
       if (wifiState == WIFI_ESPNOW_MAC_RECEIVED)
       {
-        //Add new peer to system
-        espnowAddPeer(settings.espnowPeers[settings.espnowPeerCount - 1]);
+        //Remove broadcast peer
+        espnowRemovePeer(broadcastMac);
+
+        if (esp_now_is_peer_exist(receivedMAC) == true)
+          log_d("Peer already exists");
+        else
+        {
+          //Add new peer to system
+          espnowAddPeer(receivedMAC);
+
+          //Record this MAC to peer list
+          memcpy(settings.espnowPeers[settings.espnowPeerCount], receivedMAC, 6);
+          settings.espnowPeerCount++;
+          settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
+        }
 
-        //Send message directly to the last peer stored (not unicast), then exit
-        espnowSendPairMessage(settings.espnowPeers[settings.espnowPeerCount - 1]);
+        //Send message directly to the received MAC (not unicast), then exit
+        espnowSendPairMessage(receivedMAC);
 
         wifiSetState(WIFI_ESPNOW_PAIRED);
         Serial.println("Pairing compete");
@@ -189,7 +199,6 @@ void espnowBeginPairing()
       }
     }
 
-    uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
     espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
 
     Serial.println("Scanning for other radio...");
@@ -248,3 +257,16 @@ esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
   return (ESP_OK);
 #endif
 }
+
+//Remove a given MAC address from the peer list
+esp_err_t espnowRemovePeer(uint8_t *peerMac)
+{
+#ifdef COMPILE_WIFI
+  esp_err_t result = esp_now_del_peer(peerMac);
+  if (result != ESP_OK)
+    log_d("Failed to remove peer");
+  return (result);
+#else
+  return (ESP_OK);
+#endif
+}
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 036f79112..420e9f1dd 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,7 +26,7 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-#define COMPILE_BT //Comment out to remove Bluetooth functionality
+//#define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
@@ -357,6 +357,7 @@ float lBandEBNO = 0.0; //Used on system status menu
 uint8_t espnowOutgoing[250]; //ESP NOW has max of 250 characters
 unsigned long espnowLastAdd; //Tracks how long since last byte was added to the outgoing buffer
 uint8_t espnowOutgoingSpot = 0;
+uint8_t receivedMAC[6]; //Holds the broadcast MAC during pairing
 
 int espnowRSSI = 0;
 int packetRSSI = 0;

From c353544c1c6ba9ecca59cf5e02bd79cabe1eb317 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 5 Aug 2022 14:24:37 -0500
Subject: [PATCH 025/134] Update radio menu. Prevent adding of multiple peers.

---
 Firmware/RTK_Surveyor/Base.ino         |  3 +-
 Firmware/RTK_Surveyor/Begin.ino        |  2 ++
 Firmware/RTK_Surveyor/ESPNOW.ino       | 29 ++++++++++-------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  4 +--
 Firmware/RTK_Surveyor/menuMain.ino     | 44 ++++++++++++++++++++++----
 5 files changed, 60 insertions(+), 22 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index b208014b2..ef007c099 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -240,7 +240,8 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
       espnowOutgoingSpot = 0; //Wrap
 #ifdef COMPILE_WIFI
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
-      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
+      delay(10); //We need a small delay between sending multiple packets
+      //log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
 #endif
     }
   }
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index e8504dd72..f815b1a70 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -715,6 +715,8 @@ bool beginExternalTriggers()
 //Check if NEO-D9S is connected. Configure if available.
 void beginLBand()
 {
+  if(settings.enablePointPerfectCorrections == false) return; //If user has turned off PointPerfect, skip everything
+
   if (i2cLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
   {
     log_d("L-Band not detected");
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index adb17298c..233819973 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -26,11 +26,11 @@ typedef struct PairMessage {
 #ifdef COMPILE_WIFI
 void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 {
-  //  Serial.print("Last Packet Send Status: ");
-  //  if (status == ESP_NOW_SEND_SUCCESS)
-  //    Serial.println("Delivery Success");
-  //  else
-  //    Serial.println("Delivery Fail");
+//  Serial.print("Last Packet Send Status: ");
+//  if (status == ESP_NOW_SEND_SUCCESS)
+//    Serial.println("Delivery Success");
+//  else
+//    Serial.println("Delivery Fail");
 }
 #endif
 
@@ -63,10 +63,10 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
     espnowRSSI = packetRSSI; //Record this packets RSSI as an ESP NOW packet
 
     //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
-    //serialGNSS.write(incomingData, len);
-    log_d("ESPNOW: Rececived %d bytes, RSSI: %d", len, espnowRSSI);
+    serialGNSS.write(incomingData, len);
+    log_d("ESPNOW: Received %d bytes, RSSI: %d", len, espnowRSSI);
 
-    //online.rxRtcmCorrectionData = true;
+    online.rxRtcmCorrectionData = true;
     lastEspnowRssiUpdate = millis();
   }
 #endif
@@ -109,7 +109,7 @@ void espnowStart()
   esp_wifi_set_promiscuous_rx_cb(&promiscuous_rx_cb);
 
   // Register send callbacks
-  esp_now_register_send_cb(espnowOnDataSent);
+  //esp_now_register_send_cb(espnowOnDataSent);
   esp_now_register_recv_cb(espnowOnDataRecieved);
 
   if (settings.espnowPeerCount == 0)
@@ -124,9 +124,14 @@ void espnowStart()
     log_d("Adding %d espnow peers", settings.espnowPeerCount);
     for (int x = 0 ; x < settings.espnowPeerCount ; x++)
     {
-      esp_err_t result = espnowAddPeer(settings.espnowPeers[x]); // Enable encryption to peers
-      if (result != ESP_OK)
-        log_d("Failed to add peer #%d\n\r", x);
+      if (esp_now_is_peer_exist(settings.espnowPeers[x]) == true)
+        log_d("Peer already exists");
+      else
+      {
+        esp_err_t result = espnowAddPeer(settings.espnowPeers[x]);
+        if (result != ESP_OK)
+          log_d("Failed to add peer #%d\n\r", x);
+      }
     }
   }
 
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 420e9f1dd..90d9b75c9 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,7 +26,7 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-//#define COMPILE_BT //Comment out to remove Bluetooth functionality
+#define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
@@ -843,7 +843,7 @@ void updateRadio()
       {
 #ifdef COMPILE_WIFI
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
-        log_d("ESPNOW: Sending %d bytes", espnowOutgoingSpot);
+        //log_d("ESPNOW: Sending %d bytes", espnowOutgoingSpot);
 #endif
         espnowOutgoingSpot = 0; //Reset
       }
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 1b8eeb9d8..c84f380ec 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -307,16 +307,34 @@ void menuRadio()
 
     if (settings.radioType == RADIO_ESPNOW)
     {
-      //Pretty print the MAC of paired radios
-      for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+      //Pretty print the MAC of all radios
+
+      //Get unit MAC address
+      uint8_t unitMACAddress[6];
+      esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
+
+      Serial.print("  Radio MAC: ");
+      for (int x = 0 ; x < 5 ; x++)
+        Serial.printf("%02X:", unitMACAddress[x]);
+      Serial.printf("%02X\n\r", unitMACAddress[5]);
+
+      if (settings.espnowPeerCount > 0)
       {
-        Serial.printf("\tPaired Radio %d: ", x);
-        for (int y = 0 ; y < 5 ; y++)
-          Serial.printf("%02X:", settings.espnowPeers[x][y]);
-        Serial.printf("%02X\n\r", settings.espnowPeers[x][5]);
+        Serial.println("  Paired Radios: ");
+        for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+        {
+          Serial.print("    ");
+          for (int y = 0 ; y < 5 ; y++)
+            Serial.printf("%02X:", settings.espnowPeers[x][y]);
+          Serial.printf("%02X\n\r", settings.espnowPeers[x][5]);
+        }
       }
+      else
+        Serial.println("  No Paired Radios");
+      
 
       Serial.println("2) Pair radios");
+      Serial.println("3) Forget all radios");
     }
 
     Serial.println("x) Exit");
@@ -333,6 +351,18 @@ void menuRadio()
       Serial.println("Begin ESP NOW Pairing");
       espnowBeginPairing();
     }
+    else if (settings.radioType == RADIO_ESPNOW && incoming == 3)
+    {
+      Serial.println("\r\nForgetting all paired radios. Press 'y' to confirm:");
+      byte bContinue = getByteChoice(menuTimeout);
+      if (bContinue == 'y')
+      {
+        for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+          espnowRemovePeer(settings.espnowPeers[x]);
+        settings.espnowPeerCount = 0;
+        Serial.println("Radios forgotten");
+      }
+    }
 
     else if (incoming == STATUS_PRESSED_X)
       break;
@@ -343,6 +373,6 @@ void menuRadio()
   }
 
   beginRadio();
-  
+
   while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
 }

From e1a25639f1deea80a394fed7f6e1d3775473f919 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 6 Aug 2022 14:11:49 -0500
Subject: [PATCH 026/134] Fix PR  #251

---
 Firmware/RTK_Surveyor/NtripServer.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index ddf90038f..d1822d5a7 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -185,12 +185,12 @@ bool ntripServerRtcmMessage(uint8_t data)
       if (!(data & 3))
       {
         length = data << 8;
-        crcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
+        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
         break;
       }
 
       //Wait for the preamble byte
-      crcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+      ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
 
       //Fall through
       //     |

From 3f5223fd6737f095b595dde3b8a756562445c83a Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 6 Aug 2022 15:58:23 -0500
Subject: [PATCH 027/134] Decouple WiFi and ESPNOW states.

Make wifiStart/Stop and esnowStart/Stop friendly and independent.
---
 Firmware/RTK_Surveyor/Base.ino         |   2 +-
 Firmware/RTK_Surveyor/Begin.ino        |   2 +-
 Firmware/RTK_Surveyor/Display.ino      |  89 +++++++++-------
 Firmware/RTK_Surveyor/ESPNOW.ino       | 139 +++++++++++++++++++------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |   4 +-
 Firmware/RTK_Surveyor/WiFi.ino         |  55 +++++-----
 Firmware/RTK_Surveyor/settings.h       |  17 ++-
 7 files changed, 204 insertions(+), 104 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index ef007c099..ec4a265ae 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -229,7 +229,7 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
 {
   ntripServerProcessRTCM(incoming);
 
-  if (wifiState == WIFI_ESPNOW_PAIRED)
+  if (wifiState == ESPNOW_PAIRED)
   {
     //Move this byte into ESP NOW to send buffer
     espnowOutgoing[espnowOutgoingSpot++] = incoming;
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index f815b1a70..46d82e2ad 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -842,7 +842,7 @@ void beginRadio()
 {
   if (settings.radioType == RADIO_EXTERNAL)
   {
-    wifiStop();
+    espnowStop();
 
     //Nothing to start. UART2 of ZED is connected to external Radio port and is configured at configureUbloxModule()
   }
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 723be50dc..ed67643c3 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2,7 +2,7 @@
 // Constants
 //----------------------------------------
 
-//A bitfield is used to flag which icon needs to be illuminated 
+//A bitfield is used to flag which icon needs to be illuminated
 //systemState will dictate most of the icons needed
 
 //Left top
@@ -602,16 +602,26 @@ void paintBatteryLevel()
 //Display Bluetooth icon, Bluetooth MAC, WiFi, or ESP NOW depending on connection state
 uint32_t paintWirelessIcon()
 {
-  uint32_t icons;
+  uint32_t icons = 0;
 
   //TODO resolve if both BT and WiFi are on/connected
   icons = 0;
   if (online.display == true)
   {
+    //Deal with each icon individiually
+    //The ESPNOW_PAIRED is the only state where data is moving between units,
+    //and thus is the only state that affects icon placement
+    
     //Bluetooth icon if paired, or Bluetooth MAC address if not paired
-    if (bluetoothGetState() == BT_CONNECTED && wifiState == WIFI_OFF)
+    if (bluetoothGetState() == BT_CONNECTED)
     {
-      icons = ICON_BT_SYMBOL;
+      if (espnowState != ESPNOW_PAIRED)
+        icons |= ICON_BT_SYMBOL;
+      else
+        icons |= ICON_BT_SYMBOL_RIGHT;
+
+      //TODO deal with arrows when ESP Now paired
+
       if (systemState <= STATE_BASE_NOT_STARTED)
       {
         if (online.rxRtcmCorrectionData)
@@ -620,16 +630,39 @@ uint32_t paintWirelessIcon()
       else if (systemState <= STATE_BUBBLE_LEVEL)
         icons |= ICON_UP_ARROW;
     }
-    else if (wifiState == WIFI_NOTCONNECTED)
+    else
+    {
+      if (espnowState != ESPNOW_PAIRED)
+        icons |= ICON_MAC_ADDRESS;
+      else
+        icons |= ICON_MAC_ADDRESS_2DIGIT;
+    }
+
+    if (wifiState == WIFI_NOTCONNECTED)
     {
       //Blink WiFi icon
-      blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
-      if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
-        icons = ICON_WIFI_SYMBOL_LEFT;
+      if (espnowState != ESPNOW_PAIRED)
+      {
+        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
+        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
+          icons |= ICON_WIFI_SYMBOL_LEFT;
+      }
+      else
+      {
+        //Move to center
+        blinking_icons ^= ICON_WIFI_SYMBOL_CENTER;
+        if (blinking_icons & ICON_WIFI_SYMBOL_CENTER)
+          icons |= ICON_WIFI_SYMBOL_CENTER;
+      }
     }
     else if (wifiState == WIFI_CONNECTED)
     {
-      icons = ICON_WIFI_SYMBOL_LEFT;
+      if (espnowState != ESPNOW_PAIRED)
+        icons |= ICON_WIFI_SYMBOL_LEFT;
+      else
+        icons |= ICON_WIFI_SYMBOL_CENTER;
+
+      //TODO deal with arrows when ESP now paired
 
       //If we are connected to NTRIP Client, show download arrow
       if ((online.ntripClient == true) && online.rxRtcmCorrectionData)
@@ -637,41 +670,17 @@ uint32_t paintWirelessIcon()
       else if (online.ntripServer == true)
         icons |= ICON_UP_ARROW;
     }
-    else if (wifiState == WIFI_ESPNOW_PAIRED)
+
+    if (espnowState == ESPNOW_PAIRED)
     {
-      //If ESPNOW is on, and we are in base mode, show animated icon
-      if(systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
-      {
-        //Display ESPNOW and BT (either MAC or symbol)
-        icons = ICON_ESPNOW_SYMBOL;
-        if (bluetoothGetState() == BT_CONNECTED)
-          icons |= ICON_BT_SYMBOL_RIGHT;
-        else
-          icons |= ICON_MAC_ADDRESS_2DIGIT;
-      }
-      
+      //If ESPNOW is paired, and we are in base mode, show animated icon
+      if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+        icons |= ICON_ESPNOW_SYMBOL;
+
       //If ESPNOW is on, and we've received a packet, move BT to make room
       else if (espnowRSSI > -255)
-      {
-        //Display ESPNOW and BT (either MAC or symbol)
-        icons = ICON_ESPNOW_SYMBOL;
-        if (bluetoothGetState() == BT_CONNECTED)
-          icons |= ICON_BT_SYMBOL_RIGHT;
-        else
-          icons |= ICON_MAC_ADDRESS_2DIGIT; //Display 2 digit MAC
-      }
-
-      //No ESPNOW icon
-      else
-      {
-        if (bluetoothGetState() == BT_CONNECTED)
-          icons = ICON_BT_SYMBOL;
-        else
-          icons = ICON_MAC_ADDRESS; //Display full MAC
-      }
+        icons |= ICON_ESPNOW_SYMBOL;
     }
-    else
-      icons = ICON_MAC_ADDRESS;
   }
   return icons;
 }
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 233819973..4a927f4b3 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -26,11 +26,11 @@ typedef struct PairMessage {
 #ifdef COMPILE_WIFI
 void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 {
-//  Serial.print("Last Packet Send Status: ");
-//  if (status == ESP_NOW_SEND_SUCCESS)
-//    Serial.println("Delivery Success");
-//  else
-//    Serial.println("Delivery Fail");
+  //  Serial.print("Last Packet Send Status: ");
+  //  if (status == ESP_NOW_SEND_SUCCESS)
+  //    Serial.println("Delivery Success");
+  //  else
+  //    Serial.println("Delivery Fail");
 }
 #endif
 
@@ -38,7 +38,7 @@ void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int len)
 {
 #ifdef COMPILE_WIFI
-  if (wifiState == WIFI_ESPNOW_PAIRING)
+  if (espnowState == ESPNOW_PAIRING)
   {
     if (len == sizeof(PairMessage)) //First error check
     {
@@ -53,7 +53,7 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
       if (tempCRC == pairMessage.crc) //2nd error check
       {
         memcpy(&receivedMAC, pairMessage.macAddress, 6);
-        wifiSetState(WIFI_ESPNOW_MAC_RECEIVED);
+        espnowSetState(ESPNOW_MAC_RECEIVED);
       }
       //else Pair CRC failed
     }
@@ -86,17 +86,29 @@ void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
 }
 #endif
 
+//If WiFi is already enabled, simply add the LR protocol
+//If the radio is off entirely, start the radio, turn on only the LR protocol
 void espnowStart()
 {
 #ifdef COMPILE_WIFI
-  // If we are in WIFI_OFF or WIFI_ON, CONNECTED, NOTCONNECTED, doesn't matter
-  // General WiFi will be turned off/disconnected and replaced by ESP NOW
 
-  // Set device as a Wi-Fi Station
-  WiFi.mode(WIFI_STA);
-
-  // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
-  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
+  if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
+  {
+    //Radio is off, turn it on
+    WiFi.mode(WIFI_STA);
+  }
+  //If WiFi is on but ESP NOW is off, then enable LR protocol
+  else if (wifiState > WIFI_OFF && espnowState == ESPNOW_OFF)
+  {
+    //Enable WiFi + ESP-Now
+    // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
+  }
+  //If ESP-Now is active, WiFi is active, do nothing
+  else
+  {
+    Serial.println("Wi-Fi on, ESP-Now on");
+  }
 
   // Init ESP-NOW
   if (esp_now_init() != ESP_OK) {
@@ -108,18 +120,18 @@ void espnowStart()
   esp_wifi_set_promiscuous(true);
   esp_wifi_set_promiscuous_rx_cb(&promiscuous_rx_cb);
 
-  // Register send callbacks
+  // Register callbacks
   //esp_now_register_send_cb(espnowOnDataSent);
   esp_now_register_recv_cb(espnowOnDataRecieved);
 
   if (settings.espnowPeerCount == 0)
   {
-    wifiSetState(WIFI_ESPNOW_ON);
+    espnowSetState(ESPNOW_ON);
   }
   else
   {
     //If we already have peers, move to paired state
-    wifiSetState(WIFI_ESPNOW_PAIRED);
+    espnowSetState(ESPNOW_PAIRED);
 
     log_d("Adding %d espnow peers", settings.espnowPeerCount);
     for (int x = 0 ; x < settings.espnowPeerCount ; x++)
@@ -140,27 +152,60 @@ void espnowStart()
 #endif
 }
 
-//Begin broadcasting our MAC and wait for remote unit to respond
-void espnowBeginPairing()
+//If WiFi is already enabled, simply remove the LR protocol
+//If WiFi is off, stop the radio entirely
+void espnowStop()
 {
-#ifndef COMPILE_WIFI
-  return;
-#endif
+#ifdef COMPILE_WIFI
+  if(espnowState == ESPNOW_OFF) return;
 
-  if (wifiState != WIFI_ESPNOW_ON
-      || wifiState != WIFI_ESPNOW_PAIRING
-      || wifiState != WIFI_ESPNOW_MAC_RECEIVED
-      || wifiState != WIFI_ESPNOW_PAIRED
-     )
+  if (wifiState > WIFI_OFF)
   {
-    espnowStart();
+    //Radio is on, turn it off entirely
+    WiFi.mode(WIFI_OFF);
+    Serial.println("WiFi Radio off entirely");
+  }
+  //If WiFi is on, then disable LR protocol
+  else if (wifiState > WIFI_OFF)
+  {
+    // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+    Serial.println("WiFi protocol on, LR protocol off");
+  }
+
+  // Turn off promiscuous WiFi mode
+  esp_wifi_set_promiscuous(false);
+  esp_wifi_set_promiscuous_rx_cb(NULL);
+
+  // Deregister callbacks
+  //esp_now_unregister_send_cb();
+  esp_now_unregister_recv_cb();
+
+  // Deinit ESP-NOW
+  if (esp_now_deinit() != ESP_OK) {
+    Serial.println("Error deinitializing ESP-NOW");
+    return;
   }
 
+  espnowSetState(ESPNOW_OFF);
+
+  Serial.println("ESP NOW Off");
+#else
+  Serial.println("Error - WiFi not compiled");
+#endif
+}
+
+//Begin broadcasting our MAC and wait for remote unit to respond
+void espnowBeginPairing()
+{
+#ifdef COMPILE_WIFI
+  espnowStart();
+
   // To begin pairing, we must add the broadcast MAC to the peer list
   uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
   espnowAddPeer(broadcastMac, false); // Encryption is not supported for multicast addresses
 
-  wifiSetState(WIFI_ESPNOW_PAIRING);
+  espnowSetState(ESPNOW_PAIRING);
 
   //Begin sending our MAC every 250ms until a remote device sends us there info
   randomSeed(millis());
@@ -177,7 +222,7 @@ void espnowBeginPairing()
     {
       delay(1);
 
-      if (wifiState == WIFI_ESPNOW_MAC_RECEIVED)
+      if (espnowState == ESPNOW_MAC_RECEIVED)
       {
         //Remove broadcast peer
         espnowRemovePeer(broadcastMac);
@@ -198,7 +243,7 @@ void espnowBeginPairing()
         //Send message directly to the received MAC (not unicast), then exit
         espnowSendPairMessage(receivedMAC);
 
-        wifiSetState(WIFI_ESPNOW_PAIRED);
+        espnowSetState(ESPNOW_PAIRED);
         Serial.println("Pairing compete");
         return;
       }
@@ -210,6 +255,9 @@ void espnowBeginPairing()
   }
 
   Serial.println("User pressed button. Pairing canceled.");
+#else
+  Serial.println("WiFi not compiled");
+#endif
 }
 
 //Create special pair packet to a given MAC
@@ -275,3 +323,32 @@ esp_err_t espnowRemovePeer(uint8_t *peerMac)
   return (ESP_OK);
 #endif
 }
+
+//Update the state of the ESP Now state machine
+void espnowSetState (byte newState)
+{
+  if (espnowState == newState)
+    Serial.print("*");
+  espnowState = newState;
+  switch (newState)
+  {
+    default:
+      Serial.printf("Unknown ESPNOW state: %d\r\n", newState);
+      break;
+    case ESPNOW_OFF:
+      Serial.println("ESPNOW_OFF");
+      break;
+    case ESPNOW_ON:
+      Serial.println("ESPNOW_ON");
+      break;
+    case ESPNOW_PAIRING:
+      Serial.println("ESPNOW_PAIRING");
+      break;
+    case ESPNOW_MAC_RECEIVED:
+      Serial.println("ESPNOW_MAC_RECEIVED");
+      break;
+    case ESPNOW_PAIRED:
+      Serial.println("ESPNOW_PAIRED");
+      break;
+  }
+}
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 90d9b75c9..8e8711955 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,7 +26,7 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-#define COMPILE_BT //Comment out to remove Bluetooth functionality
+//#define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
@@ -835,7 +835,7 @@ void updateRadio()
 {
   if (settings.radioType == RADIO_ESPNOW)
   {
-    if (wifiState == WIFI_ESPNOW_PAIRED)
+    if (espnowState == ESPNOW_PAIRED)
     {
       //If it's been longer than a few ms since we last added a byte to the buffer
       //then we've reached the end of the RTCM stream. Send partial buffer.
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 47968c4d2..4a7fefbbc 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -128,18 +128,6 @@ void wifiSetState (byte newState)
     case WIFI_CONNECTED:
       Serial.println("WIFI_CONNECTED");
       break;
-    case WIFI_ESPNOW_ON:
-      Serial.println("WIFI_ESPNOW_ON");
-      break;
-    case WIFI_ESPNOW_PAIRING:
-      Serial.println("WIFI_ESPNOW_PAIRING");
-      break;
-    case WIFI_ESPNOW_MAC_RECEIVED:
-      Serial.println("WIFI_ESPNOW_MAC_RECEIVED");
-      break;
-    case WIFI_ESPNOW_PAIRED:
-      Serial.println("WIFI_ESPNOW_PAIRED");
-      break;
   }
 }
 
@@ -208,11 +196,20 @@ bool wifiConnectionTimeout()
   return true;
 }
 
+//If radio is off entirely, start WiFi
+//If ESP-Now is active, only add the LR protocol
 void wifiStart(char* ssid, char* pw)
 {
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
+    //If ESP-Now is active, reconfigure protocols
+    if (espnowState > ESPNOW_OFF)
+    {
+      //Enable WiFi + ESP-Now
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
+    }
+
     Serial.printf("Wi-Fi connecting to %s\r\n", ssid);
     WiFi.begin(ssid, pw);
     wifiTimer = millis();
@@ -226,30 +223,38 @@ void wifiStart(char* ssid, char* pw)
 
 //Stop WiFi and release all resources
 //See WiFiBluetoothSwitch sketch for more info
+//If ESP NOW is active, leave WiFi on enough for ESP NOW
 void wifiStop()
 {
-  ntripClientStop(true);
-  ntripServerStop(true);
-
 #ifdef  COMPILE_WIFI
   stopWebServer();
 
-  //If the WiFi is in a state where WiFi has been configured/on, turn it off
-  if (wifiState == WIFI_NOTCONNECTED
-      || wifiState == WIFI_CONNECTED
-      || wifiState == WIFI_ESPNOW_ON
-      || wifiState == WIFI_ESPNOW_PAIRING
-      || wifiState == WIFI_ESPNOW_MAC_RECEIVED
-      || wifiState == WIFI_ESPNOW_PAIRED
-     )
+  if (wifiState == WIFI_OFF)
+  {
+    //Do nothing
+  }
+  //If WiFi is on but ESP NOW is off, then turn off radio entirely
+  else if (espnowState == ESPNOW_OFF)
   {
     WiFi.mode(WIFI_OFF);
     wifiSetState(WIFI_OFF);
     Serial.println("Wi-Fi Stopped");
+  }
+  //If ESP-Now is active, change protocol to only Long Range
+  else if (espnowState > ESPNOW_OFF)
+  {
+    WiFi.mode(WIFI_STA);
 
-    //Display the heap state
-    reportHeapNow();
+    // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
+
+    wifiSetState(WIFI_OFF);
+
+    Serial.println("Wi-Fi disabled, ESP-Now left in place");
   }
+
+  //Display the heap state
+  reportHeapNow();
 #endif  //COMPILE_WIFI
 }
 
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 0fa711d9b..7d1051896 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -102,19 +102,28 @@ typedef enum
   ERROR_GPS_CONFIG_FAIL,
 } t_errorNumber;
 
+//Even though WiFi and ESP-Now operate on the same radio, we treat
+//then as different states so that we can leave the radio on if
+//either WiFi or ESP-Now are active
 enum WiFiState
 {
   WIFI_OFF = 0,
   WIFI_ON,
   WIFI_NOTCONNECTED,
   WIFI_CONNECTED,
-  WIFI_ESPNOW_ON,
-  WIFI_ESPNOW_PAIRING,
-  WIFI_ESPNOW_MAC_RECEIVED,
-  WIFI_ESPNOW_PAIRED,
 };
 volatile byte wifiState = WIFI_OFF;
 
+enum ESPNOWState
+{
+  ESPNOW_OFF,
+  ESPNOW_ON,
+  ESPNOW_PAIRING,
+  ESPNOW_MAC_RECEIVED,
+  ESPNOW_PAIRED,
+};
+volatile byte espnowState = ESPNOW_OFF;
+
 enum NTRIPClientState
 {
   NTRIP_CLIENT_OFF = 0,         //Using Bluetooth or NTRIP server

From 5ca7d766c5709b417bfe9e8c0f193ed90381f486 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 6 Aug 2022 15:59:53 -0500
Subject: [PATCH 028/134] Remove ntripServerStart before base is complete.

---
 Firmware/RTK_Surveyor/States.ino | 31 ++++++-------------------------
 1 file changed, 6 insertions(+), 25 deletions(-)

diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index bbba8e0f9..833749a17 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -247,23 +247,9 @@ void updateSystemState()
             displayBaseSuccess(500); //Show 'Base Started'
 
             if (settings.fixedBase == false)
-            {
-              //Restart Bluetooth with 'Base' name
-              //We start BT regardless of Ntrip Server in case user wants to transmit survey-in stats over BT
-              if (settings.ntripServer_StartAtSurveyIn)
-                ntripServerStart();
-              else
-                bluetoothStart();
               changeState(STATE_BASE_TEMP_SETTLE);
-            }
             else if (settings.fixedBase == true)
-            {
-              if (settings.enableNtripServer)
-                ntripServerStart();
-              else
-                bluetoothStart();
               changeState(STATE_BASE_FIXED_NOT_STARTED);
-            }
           }
           else
           {
@@ -326,17 +312,12 @@ void updateSystemState()
               digitalWrite(pin_baseStatusLED, HIGH); //Indicate survey complete
 
             //Start the NTRIP server if requested
-            if ((settings.ntripServer_StartAtSurveyIn == false)
-                && (settings.enableNtripServer == true))
-            {
+            if (settings.enableNtripServer == true)
               ntripServerStart();
-            }
 
-            //TODO select either or WiFi or ESP NOW
+            //Start ESP-Now if requested
             if (settings.radioType == RADIO_ESPNOW)
-            {
               espnowStart();
-            }
 
             rtcmPacketsSent = 0; //Reset any previous number
             changeState(STATE_BASE_TEMP_TRANSMITTING);
@@ -397,13 +378,13 @@ void updateSystemState()
             if (productVariant == RTK_SURVEYOR)
               digitalWrite(pin_baseStatusLED, HIGH); //Turn on base LED
 
-            //TODO shouldn't NtripServer be here?
+            //Start the NTRIP server if requested
+            if (settings.enableNtripServer)
+              ntripServerStart();
 
-            //TODO select either or WiFi or ESP NOW
+            //Start ESP-Now if requested
             if (settings.radioType == RADIO_ESPNOW)
-            {
               espnowStart();
-            }
 
             changeState(STATE_BASE_FIXED_TRANSMITTING);
           }

From e1d47d1a75f0145dd065e616cdb3a2147253cebc Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 7 Aug 2022 13:31:07 -0500
Subject: [PATCH 029/134] Fix compiler errors in v2.0.4 core

---
 Firmware/RTK_Surveyor/Begin.ino        |  1 -
 Firmware/RTK_Surveyor/Display.ino      |  2 +-
 Firmware/RTK_Surveyor/Form.ino         | 23 +++--------------------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  3 ---
 Firmware/RTK_Surveyor/States.ino       |  2 +-
 Firmware/RTK_Surveyor/menuMain.ino     |  2 --
 Firmware/RTK_Surveyor/menuPP.ino       |  4 ++--
 Firmware/RTK_Surveyor/menuSystem.ino   |  4 ++--
 8 files changed, 9 insertions(+), 32 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 46d82e2ad..f752d5ab6 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -828,7 +828,6 @@ void beginI2C()
   //SCL/GND shorted: 1000ms, response 5
   //SDA/VCC shorted: 1000ms, reponse 5
   //SDA/GND shorted: 14ms, response 5
-  unsigned long startTime = millis();
   Wire.beginTransmission(0x15); //Dummy address
   int endValue = Wire.endTransmission();
   if (endValue == 2)
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index ed67643c3..60d5a3745 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -379,7 +379,7 @@ void updateDisplay()
 #ifdef COMPILE_BT
         sprintf(macAddress, "%02X", unitMACAddress[5]);
 #else
-        sprintf(macAddress, "%02X", 0, 0); //If BT is not available, print zeroes
+        sprintf(macAddress, "%02X", 0); //If BT is not available, print zeroes
 #endif
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(9, 3);
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index c0f964730..0af0aa45b 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -1,8 +1,6 @@
 //Once connected to the access point for WiFi Config, the ESP32 sends current setting values in one long string to websocket
 //After user clicks 'save', data is validated via main.js and a long string of values is returned.
 
-static uint8_t bootProfileNumber;
-
 //Start webserver in AP mode
 void startWebServer()
 {
@@ -288,7 +286,7 @@ void createSettingsString(char* settingsCSV)
   //System Info
   stringRecord(settingsCSV, "platformPrefix", platformPrefix);
 
-  char apRtkFirmwareVersion[50];
+  char apRtkFirmwareVersion[86];
   sprintf(apRtkFirmwareVersion, "RTK %s Firmware: v%d.%d-%s", platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
   stringRecord(settingsCSV, "rtkFirmwareVersion", apRtkFirmwareVersion);
 
@@ -298,7 +296,7 @@ void createSettingsString(char* settingsCSV)
   else if (zedModuleType == PLATFORM_F9R)
     strcpy(apZedPlatform, "ZED-F9R");
 
-  char apZedFirmwareVersion[50];
+  char apZedFirmwareVersion[80];
   sprintf(apZedFirmwareVersion, "%s Firmware: %s", apZedPlatform, zedFirmwareVersion);
   stringRecord(settingsCSV, "zedFirmwareVersion", apZedFirmwareVersion);
 
@@ -418,8 +416,6 @@ void createSettingsString(char* settingsCSV)
     sprintf(nameText, "%d: %s", index + 1, profileNames[index]);
     stringRecord(settingsCSV, tagText, nameText);
   }
-  bootProfileNumber = profileNumber + 1;
-  stringRecord(settingsCSV, "bootProfileNumber", bootProfileNumber);
   stringRecord(settingsCSV, "activeProfiles", activeProfiles);
 
   //New settings not yet integrated
@@ -517,14 +513,6 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
       recordProfileNumber(profileNumber);
     }
   }
-  else if (strcmp(settingName, "bootProfileNumber") == 0)
-  {
-    if ((sscanf(settingValueStr, "%d", &bootProfileNumber) != 1)
-        || (bootProfileNumber < 1)
-        || (bootProfileNumber > (MAX_PROFILE_COUNT + 1)))
-      bootProfileNumber = 1;
-    Serial.printf("bootProfileNumber: %d\r\n", bootProfileNumber);
-  }
   else if (strcmp(settingName, "enableNtripServer") == 0)
     settings.enableNtripServer = settingValueBool;
   else if (strcmp(settingName, "ntripServer_CasterHost") == 0)
@@ -600,11 +588,6 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
   {
     if (newAPSettings == true) recordSystemSettings(); //If we've recieved settings, record before restart
 
-    //Determine which profile to boot
-    bootProfileNumber -= 1;
-    if (bootProfileNumber != profileNumber)
-      recordProfileNumber(bootProfileNumber);
-
     //Reboot the machine
     ESP.restart();
   }
@@ -726,7 +709,7 @@ void stringRecord(char* settingsCSV, const char *id, char* settingValue)
 void stringRecord(char* settingsCSV, const char *id, uint64_t settingValue)
 {
   char record[100];
-  sprintf(record, "%s,%ld,", id, settingValue);
+  sprintf(record, "%s,%lld,", id, settingValue);
   strcat(settingsCSV, record);
 }
 
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 8e8711955..63b89d82a 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -581,9 +581,6 @@ void setup()
 
 void loop()
 {
-  uint32_t delayTime;
-  uint32_t currentMilliseconds;
-
   if (online.gnss == true)
   {
     i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 833749a17..7031b983f 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -807,7 +807,7 @@ void updateSystemState()
 
           if (online.rtc == true)
           {
-            uint8_t daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
+            int daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
 
             if (daysRemaining >= 0)
             {
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index c84f380ec..f70727a90 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -294,8 +294,6 @@ void factoryReset()
 //Configure the internal radio, if available
 void menuRadio()
 {
-  int menuTimeoutExtended = 30; //Increase time needed for complex data entry (mount point ID, ECEF coords, etc).
-
   while (1)
   {
     Serial.println();
diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index e958e8126..82e55597f 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -594,7 +594,7 @@ bool getDate(uint8_t &dd, uint8_t &mm, uint16_t &yy)
 }
 
 //Given an epoch in ms, return the number of days from given and Epoch now
-uint8_t daysFromEpoch(long long endEpoch)
+int daysFromEpoch(long long endEpoch)
 {
   endEpoch /= 1000; //Convert PointPerfect ms Epoch to s
 
@@ -603,7 +603,7 @@ uint8_t daysFromEpoch(long long endEpoch)
   long delta = endEpoch - localEpoch; //number of s between dates
   delta /= (60 * 60); //hours
   delta /= 24; //days
-  return ((uint8_t)delta);
+  return ((int)delta);
 }
 
 //Given the key's starting epoch time, and the key's duration
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index c98c9f2d5..c1d5a5ac4 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -129,7 +129,7 @@ void menuSystem()
       uptimeSeconds += 1;
     }
     Serial.print("Uptime: ");
-    Serial.printf("%d %02d:%02d:%02d.%03ld\r\n",
+    Serial.printf("%d %02d:%02d:%02d.%03lld\r\n",
                   uptimeDays,
                   uptimeHours,
                   uptimeMinutes,
@@ -461,7 +461,7 @@ void menuDebug()
       else if (incoming == 9)
       {
         Serial.print("Enter GNSS Serial Timeout in milliseconds (0 to 1000): ");
-        uint16_t serialTimeoutGNSS = getNumber(menuTimeout); //Timeout after x seconds
+        int16_t serialTimeoutGNSS = getNumber(menuTimeout); //Timeout after x seconds
         if (serialTimeoutGNSS < 0 || serialTimeoutGNSS > 1000) //Arbitrary 1s limit
         {
           Serial.println("Error: Timeout is out of range");

From 86bc849cd8c08f4be38c0a8383dfd8e698e73dac Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 10:08:38 -0500
Subject: [PATCH 030/134] Add compile gates to ESP Now functions

---
 Firmware/RTK_Surveyor/Base.ino                |   4 +-
 Firmware/RTK_Surveyor/Begin.ino               |   6 +-
 Firmware/RTK_Surveyor/Display.ino             | 422 +++++++++++-------
 Firmware/RTK_Surveyor/ESPNOW.ino              |  56 +--
 Firmware/RTK_Surveyor/NVM.ino                 |   2 +
 Firmware/RTK_Surveyor/RTK_Surveyor.ino        |  20 +-
 Firmware/RTK_Surveyor/States.ino              |  14 +-
 Firmware/RTK_Surveyor/Tasks.ino               |   6 +-
 Firmware/RTK_Surveyor/menuMain.ino            |   6 +-
 Firmware/RTK_Surveyor/menuMessages.ino        |   2 +-
 .../src/BluetoothSerial/BluetoothSerial.cpp   |  11 +-
 11 files changed, 322 insertions(+), 227 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index ec4a265ae..7c7f50f7a 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -229,6 +229,7 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
 {
   ntripServerProcessRTCM(incoming);
 
+#ifdef COMPILE_ESPNOW
   if (wifiState == ESPNOW_PAIRED)
   {
     //Move this byte into ESP NOW to send buffer
@@ -238,11 +239,10 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
     if (espnowOutgoingSpot == sizeof(espnowOutgoing))
     {
       espnowOutgoingSpot = 0; //Wrap
-#ifdef COMPILE_WIFI
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
       delay(10); //We need a small delay between sending multiple packets
       //log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
-#endif
     }
   }
+#endif
 }
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index f752d5ab6..cc3b269c4 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -202,7 +202,7 @@ void beginSD()
     else if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) != pdPASS)
     {
       //This is OK since a retry will occur next loop
-      log_d("sdCardSemaphore failed to yield, Begin.ino line %d\r\n", __LINE__);
+      log_d("sdCardSemaphore failed to yield, Begin.ino line %d", __LINE__);
       break;
     }
     gotSemaphore = true;
@@ -837,8 +837,9 @@ void beginI2C()
 }
 
 //Depending on radio selection, begin hardware
-void beginRadio()
+void radioStart()
 {
+#ifdef COMPILE_ESPNOW
   if (settings.radioType == RADIO_EXTERNAL)
   {
     espnowStop();
@@ -849,4 +850,5 @@ void beginRadio()
   {
     espnowStart();
   }
+#endif
 }
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 60d5a3745..850805e8f 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -5,40 +5,46 @@
 //A bitfield is used to flag which icon needs to be illuminated
 //systemState will dictate most of the icons needed
 
-//Left top
+//The radio area (top left corner of display) has three spots for icons
+//Left/Center/Right
+//Left Radio spot
 #define ICON_WIFI_SYMBOL_LEFT            (1<<0) //  0,  0
-#define ICON_DOWN_ARROW                  (1<<1) // 16,  0
-#define ICON_UP_ARROW                    (1<<2) // 16,  0
-#define ICON_BT_SYMBOL                   (1<<3) //  4,  0
-#define ICON_MAC_ADDRESS                 (1<<4) //  0,  3
-#define ICON_MAC_ADDRESS_2DIGIT          (1<<5) //  TODO 0,  3
-#define ICON_ESPNOW_SYMBOL               (1<<6) //  TODO 0,  3
-#define ICON_BT_SYMBOL_RIGHT             (1<<7) //  TODO 4,  0
-
-//Center top
-#define ICON_WIFI_SYMBOL_CENTER          (1<<8) // center, 0
-#define ICON_BASE_TEMPORARY              (1<<9) // 27,  0
-#define ICON_BASE_FIXED                  (1<<10) // 27,  0
-#define ICON_ROVER_FUSION                (1<<11) // 27,  2
-#define ICON_ROVER_FUSION_EMPTY          (1<<12) // 27,  2
-#define ICON_DYNAMIC_MODEL               (1<<13) // 27,  0
+#define ICON_BT_SYMBOL_LEFT              (1<<1) //  4,  0
+#define ICON_MAC_ADDRESS                 (1<<2) //  0,  3
+#define ICON_ESPNOW_SYMBOL_LEFT          (1<<3) //  TODO 0,  3
+
+//Center Radio spot
+#define ICON_MAC_ADDRESS_2DIGIT          (1<<4) //  TODO 0,  3
+#define ICON_BT_SYMBOL_CENTER            (1<<5) //  TODO 4,  0
+#define ICON_WIFI_SYMBOL_CENTER          (1<<6) // TODO 0,  0
+
+//Right Radio Spot
+#define ICON_WIFI_SYMBOL_RIGHT           (1<<7) // center, 0
+#define ICON_BASE_TEMPORARY              (1<<8) // 27,  0
+#define ICON_BASE_FIXED                  (1<<9) // 27,  0
+#define ICON_ROVER_FUSION                (1<<10) // 27,  2
+#define ICON_ROVER_FUSION_EMPTY          (1<<11) // 27,  2
+#define ICON_DYNAMIC_MODEL               (1<<12) // 27,  0
+
+#define ICON_DOWN_ARROW                  (1<<13) // 16,  0
+#define ICON_UP_ARROW                    (1<<14) // 16,  0
 
 //Right top
-#define ICON_BATTERY                     (1<<14) // 45,  0
+#define ICON_BATTERY                     (1<<15) // 45,  0
 
 //Left center
-#define ICON_CROSS_HAIR                  (1<<15) //  0, 18
-#define ICON_CROSS_HAIR_DUAL             (1<<16) //  0, 18
+#define ICON_CROSS_HAIR                  (1<<16) //  0, 18
+#define ICON_CROSS_HAIR_DUAL             (1<<17) //  0, 18
 
 //Right center
-#define ICON_HORIZONTAL_ACCURACY         (1<<17) // 16, 20
+#define ICON_HORIZONTAL_ACCURACY         (1<<18) // 16, 20
 
 //Left bottom
-#define ICON_SIV_ANTENNA                 (1<<18) //  2, 35
-#define ICON_SIV_ANTENNA_LBAND           (1<<19) //  2, 35
+#define ICON_SIV_ANTENNA                 (1<<19) //  2, 35
+#define ICON_SIV_ANTENNA_LBAND           (1<<20) //  2, 35
 
 //Right bottom
-#define ICON_LOGGING                     (1<<20) // right, bottom
+#define ICON_LOGGING                     (1<<21) // right, bottom
 
 
 //----------------------------------------
@@ -165,7 +171,7 @@ void updateDisplay()
         */
 
         case (STATE_ROVER_NOT_STARTED):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
@@ -173,7 +179,7 @@ void updateDisplay()
                   | ICON_LOGGING;       //Bottom right
           break;
         case (STATE_ROVER_NO_FIX):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_DYNAMIC_MODEL  //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
@@ -182,7 +188,7 @@ void updateDisplay()
                   | ICON_LOGGING;       //Bottom right
           break;
         case (STATE_ROVER_FIX):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_DYNAMIC_MODEL  //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
@@ -192,7 +198,7 @@ void updateDisplay()
           break;
         case (STATE_ROVER_RTK_FLOAT):
           blinking_icons ^= ICON_CROSS_HAIR_DUAL;
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_DYNAMIC_MODEL  //Top center
                   | ICON_BATTERY        //Top right
                   | (blinking_icons & ICON_CROSS_HAIR_DUAL)  //Center left
@@ -201,7 +207,7 @@ void updateDisplay()
                   | ICON_LOGGING;       //Bottom right
           break;
         case (STATE_ROVER_RTK_FIX):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_DYNAMIC_MODEL  //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR_DUAL//Center left
@@ -219,8 +225,7 @@ void updateDisplay()
         //Blink crosshair icon until we have we have horz accuracy < user defined level
         case (STATE_BASE_TEMP_SETTLE):
           blinking_icons ^= ICON_BASE_TEMPORARY | ICON_CROSS_HAIR;
-          icons = paintWirelessIcon() //Top left
-                  | (blinking_icons & ICON_BASE_TEMPORARY)  //Top center
+          icons = paintRadioIcons() //Top left
                   | ICON_BATTERY        //Top right
                   | (blinking_icons & ICON_CROSS_HAIR)  //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
@@ -229,25 +234,25 @@ void updateDisplay()
           break;
         case (STATE_BASE_TEMP_SURVEY_STARTED):
           blinking_icons ^= ICON_BASE_TEMPORARY;
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | (blinking_icons & ICON_BASE_TEMPORARY)  //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
           paintBaseTempSurveyStarted();
           break;
         case (STATE_BASE_TEMP_TRANSMITTING):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_BASE_TEMPORARY //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
           paintRTCM();
           break;
         case (STATE_BASE_FIXED_NOT_STARTED):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_BATTERY;       //Top right
           break;
         case (STATE_BASE_FIXED_TRANSMITTING):
-          icons = paintWirelessIcon() //Top left
+          icons = paintRadioIcons() //Top left
                   | ICON_BASE_FIXED     //Top center
                   | ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
@@ -285,11 +290,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_WIFI_STARTED):
-          icons = paintWirelessIcon();  //Top left
+          icons = paintRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_CONNECTED):
-          icons = paintWirelessIcon();  //Top left
+          icons = paintRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_TIMEOUT):
@@ -308,11 +313,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_PROVISION_WIFI_STARTED):
-          icons = paintWirelessIcon();  //Top left
+          icons = paintRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_CONNECTED):
-          icons = paintWirelessIcon();  //Top left
+          icons = paintRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
@@ -341,23 +346,24 @@ void updateDisplay()
         else if (icons & ICON_UP_ARROW)
           displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
       }
-      if (icons & ICON_BT_SYMBOL)
+      if (icons & ICON_WIFI_SYMBOL_RIGHT)
+      {
+        displayBitmap(0, 10, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol);
+        //        if (icons & ICON_DOWN_ARROW)
+        //        {
+        //          displayBitmap(16, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
+        //          online.rxRtcmCorrectionData = false;
+        //        }
+        //        else if (icons & ICON_UP_ARROW)
+        //          displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
+      }
+      if (icons & ICON_BT_SYMBOL_LEFT)
       {
         displayBitmap(4, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
-        if (bluetoothGetState() == BT_CONNECTED)
-        {
-          if (icons & ICON_DOWN_ARROW)
-          {
-            displayBitmap(16, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
-            online.rxRtcmCorrectionData = false;
-          }
-          else if (icons & ICON_UP_ARROW)
-            displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
-        }
       }
-      if (icons & ICON_BT_SYMBOL_RIGHT)
+      if (icons & ICON_BT_SYMBOL_CENTER)
       {
-        //Moved to right to give space for ESP NOW icon on far left
+        //Moved to center to give space for ESP NOW icon on far left
         displayBitmap(10, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
       }
       if (icons & ICON_MAC_ADDRESS)
@@ -382,11 +388,11 @@ void updateDisplay()
         sprintf(macAddress, "%02X", 0); //If BT is not available, print zeroes
 #endif
         oled.setFont(QW_FONT_5X7); //Set font to smallest
-        oled.setCursor(9, 3);
+        oled.setCursor(13, 3);
         oled.print(macAddress);
       }
-      if (icons & ICON_ESPNOW_SYMBOL)
-        paintESPNOW(); //Paint animated icon for tx, static icon for rx based on RSSI
+      if (icons & ICON_ESPNOW_SYMBOL_LEFT)
+        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
 
       //Top center
       if (icons & ICON_WIFI_SYMBOL_CENTER)
@@ -599,92 +605,235 @@ void paintBatteryLevel()
    8|      *            **
 */
 
-//Display Bluetooth icon, Bluetooth MAC, WiFi, or ESP NOW depending on connection state
-uint32_t paintWirelessIcon()
+//Display Bluetooth, WiFi, ESP Now, and Mode indicators (Mac, Blinking, Arrows, etc) depending on connection state
+uint32_t paintRadioIcons()
 {
   uint32_t icons = 0;
 
-  //TODO resolve if both BT and WiFi are on/connected
-  icons = 0;
   if (online.display == true)
   {
-    //Deal with each icon individiually
-    //The ESPNOW_PAIRED is the only state where data is moving between units,
-    //and thus is the only state that affects icon placement
-    
-    //Bluetooth icon if paired, or Bluetooth MAC address if not paired
-    if (bluetoothGetState() == BT_CONNECTED)
-    {
-      if (espnowState != ESPNOW_PAIRED)
-        icons |= ICON_BT_SYMBOL;
-      else
-        icons |= ICON_BT_SYMBOL_RIGHT;
+    //There are three spots for icons in the Wireless area, left/center/right
+    //Center is normally used to indicate base/rover status.
+    //There are three radios that could be active: Bluetooth (always indicated), WiFi (if enabled), ESP-Now (if enabled)
+    //Because of lack of space we will indicate the Base/Rover if only two radios or less are active
 
-      //TODO deal with arrows when ESP Now paired
+    uint8_t numberOfRadios = 1; //Bluetooth always indicated
+    if (wifiState > WIFI_OFF) numberOfRadios++;
+    if (espnowState > ESPNOW_OFF) numberOfRadios++;
 
-      if (systemState <= STATE_BASE_NOT_STARTED)
-      {
-        if (online.rxRtcmCorrectionData)
-          icons |= ICON_DOWN_ARROW;
-      }
-      else if (systemState <= STATE_BUBBLE_LEVEL)
-        icons |= ICON_UP_ARROW;
-    }
-    else
+    //Bluetooth only
+    if (numberOfRadios == 1)
     {
-      if (espnowState != ESPNOW_PAIRED)
-        icons |= ICON_MAC_ADDRESS;
-      else
-        icons |= ICON_MAC_ADDRESS_2DIGIT;
-    }
+      icons |= paintBluetoothIcon_OneRadio();
 
-    if (wifiState == WIFI_NOTCONNECTED)
-    {
-      //Blink WiFi icon
-      if (espnowState != ESPNOW_PAIRED)
-      {
-        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
-        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
-          icons |= ICON_WIFI_SYMBOL_LEFT;
-      }
-      else
-      {
-        //Move to center
-        blinking_icons ^= ICON_WIFI_SYMBOL_CENTER;
-        if (blinking_icons & ICON_WIFI_SYMBOL_CENTER)
-          icons |= ICON_WIFI_SYMBOL_CENTER;
-      }
+      icons |= paintModeIcon(); //Turn on Rover/Base type icons
     }
-    else if (wifiState == WIFI_CONNECTED)
+
+    else if (numberOfRadios == 2)
     {
-      if (espnowState != ESPNOW_PAIRED)
-        icons |= ICON_WIFI_SYMBOL_LEFT;
-      else
-        icons |= ICON_WIFI_SYMBOL_CENTER;
+      icons |= paintBluetoothIcon_TwoRadios();
 
-      //TODO deal with arrows when ESP now paired
+      //Do we have WiFi or ESP
+      if (wifiState > WIFI_OFF)
+        icons |= paintWiFiIcon_TwoRadios();
+      else if (espnowState > ESPNOW_OFF)
+        icons |= paintESPNowIcon_TwoRadios();
 
-      //If we are connected to NTRIP Client, show download arrow
-      if ((online.ntripClient == true) && online.rxRtcmCorrectionData)
-        icons |= ICON_DOWN_ARROW;
-      else if (online.ntripServer == true)
-        icons |= ICON_UP_ARROW;
+      icons |= paintModeIcon(); //Turn on Rover/Base type icons
     }
 
-    if (espnowState == ESPNOW_PAIRED)
+    else if (numberOfRadios == 3)
     {
-      //If ESPNOW is paired, and we are in base mode, show animated icon
-      if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
-        icons |= ICON_ESPNOW_SYMBOL;
+      //Bluetooth is center
+      icons |= paintBluetoothIcon_TwoRadios();
 
-      //If ESPNOW is on, and we've received a packet, move BT to make room
-      else if (espnowRSSI > -255)
-        icons |= ICON_ESPNOW_SYMBOL;
+      //ESP Now is left
+      icons |= paintESPNowIcon_TwoRadios();
+
+      //WiFi is right
+      icons |= paintWiFiIcon_ThreeRadios();
+
+      //No Rover/Base icons
     }
   }
+
+  return icons;
+}
+
+//Bluetooth is in left position
+//Paint Bluetooth icons (MAC, Connected, arrows) in left position
+uint32_t paintBluetoothIcon_OneRadio()
+{
+  uint32_t icons = 0;
+
+  //Covers spots Left and Center
+  if (bluetoothGetState() != BT_CONNECTED)
+    icons |= ICON_MAC_ADDRESS;
+  else if (bluetoothGetState() == BT_CONNECTED)
+    icons |= ICON_BT_SYMBOL_LEFT;
+
+  return icons;
+}
+
+//Bluetooth is in center position
+//Paint Bluetooth icons (MAC, Connected, arrows) in left position
+uint32_t paintBluetoothIcon_TwoRadios()
+{
+  uint32_t icons = 0;
+
+  if (bluetoothGetState() != BT_CONNECTED)
+    icons |= ICON_MAC_ADDRESS_2DIGIT;
+  else if (bluetoothGetState() == BT_CONNECTED)
+    icons |= ICON_BT_SYMBOL_CENTER;
+
+  return icons;
+}
+
+//Bluetooth is in center position
+//Paint ESP Now icon (Solid, arrows, blinking) in left position
+uint32_t paintESPNowIcon_TwoRadios()
+{
+  uint32_t icons = 0;
+
+#ifdef COMPILE_ESPNOW
+
+  //If ESPNOW is paired, and we are in base mode, show animated icon
+  if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+    icons |= ICON_ESPNOW_SYMBOL_LEFT;
+
+  //If ESPNOW is on, and we've received a packet, move BT to make room
+  else if (espnowRSSI > -255)
+    icons |= ICON_ESPNOW_SYMBOL_LEFT;
+
+
+  //Determine if we transitting or receiving
+  //  if (millis() - espnowLastAdd < 1000)
+  //  {
+  //    //We are actively sending out bytes, animate the icon
+  //    //Animate icon to show data is being transmitted
+  //    espnowIconDisplayed++; //Goto next icon
+  //    espnowIconDisplayed %= 4; //Wrap
+  //
+  //    if (espnowIconDisplayed == 0)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
+  //    else if (espnowIconDisplayed == 1)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
+  //    else if (espnowIconDisplayed == 2)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
+  //    else if (espnowIconDisplayed == 3)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
+  //  }
+  //  else
+  //  {
+  //    //We are receiving data, adjust icon according to RSSI
+  //    if (espnowRSSI >= -40)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
+  //    else if (espnowRSSI >= -60)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
+  //    else if (espnowRSSI >= -80)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
+  //    else if (espnowRSSI > -255)
+  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
+  //  }
+#endif //ifdef COMPILE_ESPNOW
+
   return icons;
 }
 
+//Bluetooth is in center position
+//Paint WiFi icon (Solid, arrows, blinking) in left position
+uint32_t paintWiFiIcon_TwoRadios()
+{
+  uint32_t icons = 0;
+
+  icons |= ICON_WIFI_SYMBOL_LEFT;
+
+  //TODO Need blinking
+  //        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
+  //        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
+  //          icons |= ICON_WIFI_SYMBOL_LEFT;
+
+  //TODO Deal with arrows
+  //      if (systemState <= STATE_BASE_NOT_STARTED)
+  //      {
+  //        if (online.rxRtcmCorrectionData)
+  //          icons |= ICON_DOWN_ARROW;
+  //      }
+  //      else if (systemState <= STATE_BUBBLE_LEVEL)
+  //        icons |= ICON_UP_ARROW;
+  return (icons);
+}
+
+//Bluetooth is in center position
+//Paint WiFi icon (Solid, arrows, blinking) in right position
+uint32_t paintWiFiIcon_ThreeRadios()
+{
+  uint32_t icons = 0;
+
+  icons |= ICON_WIFI_SYMBOL_RIGHT;
+
+  //TODO Need blinking
+  //        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
+  //        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
+  //          icons |= ICON_WIFI_SYMBOL_LEFT;
+
+  //TODO Deal with arrows
+  //      if (systemState <= STATE_BASE_NOT_STARTED)
+  //      {
+  //        if (online.rxRtcmCorrectionData)
+  //          icons |= ICON_DOWN_ARROW;
+  //      }
+  //      else if (systemState <= STATE_BUBBLE_LEVEL)
+  //        icons |= ICON_UP_ARROW;
+  return (icons);
+}
+
+//Based on system state, turn on the various Rover, Base, Fixed Base icons
+uint32_t paintModeIcon()
+{
+  uint32_t icons = 0;
+  switch (systemState)
+  {
+    case (STATE_ROVER_NOT_STARTED):
+      break;
+    case (STATE_ROVER_NO_FIX):
+      icons |= ICON_DYNAMIC_MODEL;
+      break;
+    case (STATE_ROVER_FIX):
+      icons |= ICON_DYNAMIC_MODEL;
+      break;
+    case (STATE_ROVER_RTK_FLOAT):
+      icons |= ICON_DYNAMIC_MODEL;
+      break;
+    case (STATE_ROVER_RTK_FIX):
+      icons |= ICON_DYNAMIC_MODEL;
+      break;
+
+    case (STATE_BASE_NOT_STARTED):
+      //Do nothing. Static display shown during state change.
+      break;
+
+    case (STATE_BASE_TEMP_SETTLE):
+      break;
+    case (STATE_BASE_TEMP_SURVEY_STARTED):
+      //TODO need blinking
+      icons |= ICON_BASE_TEMPORARY;
+      break;
+    case (STATE_BASE_TEMP_TRANSMITTING):
+      icons |= ICON_BASE_TEMPORARY;
+      break;
+    case (STATE_BASE_FIXED_NOT_STARTED):
+      break;
+    case (STATE_BASE_FIXED_TRANSMITTING):
+      icons |= ICON_BASE_FIXED;
+      break;
+
+    default:
+      break;
+  }
+  return (icons);
+}
+
 /*
                111111111122222222223333333333444444444455555555556666
      0123456789012345678901234567890123456789012345678901234567890123
@@ -977,43 +1126,6 @@ void paintLogging()
   }
 }
 
-//Animate the ESP NOW icon if we are actively transmitting
-//Otherwise, show static icon with level indicating RSSI
-void paintESPNOW()
-{
-  const uint8_t x = 0;
-
-  //Determine if we transitting or receiving
-  if (millis() - espnowLastAdd < 1000)
-  {
-    //We are actively sending out bytes, animate the icon
-    //Animate icon to show data is being transmitted
-    espnowIconDisplayed++; //Goto next icon
-    espnowIconDisplayed %= 4; //Wrap
-
-    if (espnowIconDisplayed == 0)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
-    else if (espnowIconDisplayed == 1)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
-    else if (espnowIconDisplayed == 2)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
-    else if (espnowIconDisplayed == 3)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
-  }
-  else
-  {
-    //We are receiving data, adjust icon according to RSSI
-    if (espnowRSSI >= -40)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
-    else if (espnowRSSI >= -60)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
-    else if (espnowRSSI >= -80)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
-    else if (espnowRSSI > -255)
-      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
-  }
-}
-
 //Survey in is running. Show 3D Mean and elapsed time.
 void paintBaseTempSurveyStarted()
 {
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 4a927f4b3..6ee453b0e 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -12,7 +12,7 @@
       We don't care if the ESP NOW packet is corrupt or not. RTCM has its own CRC. RTK needs valid RTCM once every
       few seconds so a single dropped frame is not critical.
 */
-
+#ifdef COMPILE_ESPNOW
 
 //Create a struct for ESP NOW pairing
 typedef struct PairMessage {
@@ -23,7 +23,6 @@ typedef struct PairMessage {
 } PairMessage;
 
 // Callback when data is sent
-#ifdef COMPILE_WIFI
 void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 {
   //  Serial.print("Last Packet Send Status: ");
@@ -32,12 +31,10 @@ void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
   //  else
   //    Serial.println("Delivery Fail");
 }
-#endif
 
 // Callback when data is received
 void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int len)
 {
-#ifdef COMPILE_WIFI
   if (espnowState == ESPNOW_PAIRING)
   {
     if (len == sizeof(PairMessage)) //First error check
@@ -69,12 +66,10 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
     online.rxRtcmCorrectionData = true;
     lastEspnowRssiUpdate = millis();
   }
-#endif
 }
 
 // Callback for all RX Packets
 // Get RSSI of all incoming management packets: https://esp32.com/viewtopic.php?t=13889
-#ifdef COMPILE_WIFI
 void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
 {
   // All espnow traffic uses action frames which are a subtype of the mgmnt frames so filter out everything else.
@@ -84,18 +79,17 @@ void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
   const wifi_promiscuous_pkt_t *ppkt = (wifi_promiscuous_pkt_t *)buf;
   packetRSSI = ppkt->rx_ctrl.rssi;
 }
-#endif
 
 //If WiFi is already enabled, simply add the LR protocol
 //If the radio is off entirely, start the radio, turn on only the LR protocol
 void espnowStart()
 {
-#ifdef COMPILE_WIFI
-
   if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Radio is off, turn it on
     WiFi.mode(WIFI_STA);
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
+    Serial.println("WiFi off, ESP-Now added to protocols");
   }
   //If WiFi is on but ESP NOW is off, then enable LR protocol
   else if (wifiState > WIFI_OFF && espnowState == ESPNOW_OFF)
@@ -103,6 +97,7 @@ void espnowStart()
     //Enable WiFi + ESP-Now
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
+    Serial.println("Wi-Fi on, ESP-Now added to protocols");
   }
   //If ESP-Now is active, WiFi is active, do nothing
   else
@@ -115,6 +110,8 @@ void espnowStart()
     Serial.println("Error initializing ESP-NOW");
     return;
   }
+  else
+    Serial.println("ESP-NOW Initialized");
 
   // Use promiscuous callback to capture RSSI of packet
   esp_wifi_set_promiscuous(true);
@@ -146,22 +143,17 @@ void espnowStart()
       }
     }
   }
-
-#else
-  Serial.println("Error - WiFi not compiled");
-#endif
 }
 
 //If WiFi is already enabled, simply remove the LR protocol
 //If WiFi is off, stop the radio entirely
 void espnowStop()
 {
-#ifdef COMPILE_WIFI
   if(espnowState == ESPNOW_OFF) return;
 
-  if (wifiState > WIFI_OFF)
+  if (wifiState == WIFI_OFF)
   {
-    //Radio is on, turn it off entirely
+    //ESP Now is the only thing using the radio, turn it off entirely
     WiFi.mode(WIFI_OFF);
     Serial.println("WiFi Radio off entirely");
   }
@@ -170,7 +162,7 @@ void espnowStop()
   {
     // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
-    Serial.println("WiFi protocol on, LR protocol off");
+    Serial.println("WiFi protocols on, LR protocol off");
   }
 
   // Turn off promiscuous WiFi mode
@@ -190,16 +182,13 @@ void espnowStop()
   espnowSetState(ESPNOW_OFF);
 
   Serial.println("ESP NOW Off");
-#else
-  Serial.println("Error - WiFi not compiled");
-#endif
 }
 
 //Begin broadcasting our MAC and wait for remote unit to respond
 void espnowBeginPairing()
 {
-#ifdef COMPILE_WIFI
   espnowStart();
+  Serial.println("1");
 
   // To begin pairing, we must add the broadcast MAC to the peer list
   uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
@@ -255,15 +244,11 @@ void espnowBeginPairing()
   }
 
   Serial.println("User pressed button. Pairing canceled.");
-#else
-  Serial.println("WiFi not compiled");
-#endif
 }
 
 //Create special pair packet to a given MAC
 esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
 {
-#ifdef COMPILE_WIFI
   // Assemble message to send
   PairMessage pairMessage;
 
@@ -279,9 +264,6 @@ esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
     pairMessage.crc += unitMACAddress[x];
 
   return (esp_now_send(sendToMac, (uint8_t *) &pairMessage, sizeof(pairMessage))); //Send packet to given MAC
-#else
-  return (ESP_OK);
-#endif
 }
 
 //Add a given MAC address to the peer list
@@ -292,7 +274,6 @@ esp_err_t espnowAddPeer(uint8_t *peerMac)
 
 esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
 {
-#ifdef COMPILE_WIFI
   esp_now_peer_info_t peerInfo;
 
   memcpy(peerInfo.peer_addr, peerMac, 6);
@@ -306,35 +287,25 @@ esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
   if (result != ESP_OK)
     log_d("Failed to add peer");
   return (result);
-#else
-  return (ESP_OK);
-#endif
 }
 
 //Remove a given MAC address from the peer list
 esp_err_t espnowRemovePeer(uint8_t *peerMac)
 {
-#ifdef COMPILE_WIFI
   esp_err_t result = esp_now_del_peer(peerMac);
   if (result != ESP_OK)
     log_d("Failed to remove peer");
   return (result);
-#else
-  return (ESP_OK);
-#endif
 }
 
 //Update the state of the ESP Now state machine
-void espnowSetState (byte newState)
+void espnowSetState(byte newState)
 {
   if (espnowState == newState)
     Serial.print("*");
   espnowState = newState;
   switch (newState)
   {
-    default:
-      Serial.printf("Unknown ESPNOW state: %d\r\n", newState);
-      break;
     case ESPNOW_OFF:
       Serial.println("ESPNOW_OFF");
       break;
@@ -350,5 +321,10 @@ void espnowSetState (byte newState)
     case ESPNOW_PAIRED:
       Serial.println("ESPNOW_PAIRED");
       break;
+    default:
+      Serial.printf("Unknown ESPNOW state: %d\r\n", newState);
+      break;
   }
 }
+
+#endif //ifdef COMPILE_ESPNOW
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index fae9d05fd..acf67ed83 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -915,6 +915,7 @@ bool parseLine(char* str, Settings *settings)
     }
 
     //Scan for ESPNOW peers
+#ifdef COMPILE_ESPNOW
     if (knownSetting == false)
     {
       for (int x = 0 ; x < ESPNOW_MAX_PEERS ; x++)
@@ -939,6 +940,7 @@ bool parseLine(char* str, Settings *settings)
         }
       }
     }
+#endif //ifdef COMPILE_ESPNOW
 
     //Last catch
     if (knownSetting == false)
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 63b89d82a..54035de9e 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,8 +26,9 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-//#define COMPILE_BT //Comment out to remove Bluetooth functionality
+#define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
+//#define COMPILE_ESPNOW //Comment out to remove ESP-Now functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
@@ -347,13 +348,11 @@ float lBandEBNO = 0.0; //Used on system status menu
 
 //ESP NOW for multipoint wireless broadcasting over 2.4GHz
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-#ifdef COMPILE_WIFI
+#ifdef COMPILE_ESPNOW
 
 #include <esp_now.h>
 #include "esp_wifi.h" //Needed for esp_wifi_set_protocol()
 
-#endif
-
 uint8_t espnowOutgoing[250]; //ESP NOW has max of 250 characters
 unsigned long espnowLastAdd; //Tracks how long since last byte was added to the outgoing buffer
 uint8_t espnowOutgoingSpot = 0;
@@ -364,6 +363,7 @@ int packetRSSI = 0;
 unsigned long lastEspnowRssiUpdate = 0;
 
 const uint8_t ESPNOW_MAX_PEERS = 5; //Maximum of 5 rovers
+#endif
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 //Global variables
@@ -568,8 +568,6 @@ void setup()
 
   beginSystemState(); //Determine initial system state. Start task for button monitoring.
 
-  beginRadio(); //Start internal radio if enabled
-
   updateRTC(); //The GNSS likely has time/date. Update ESP32 RTC to match. Needed for PointPerfect key expiration.
 
   Serial.flush(); //Complete any previous prints
@@ -669,7 +667,7 @@ void updateLogs()
       {
         //This is OK because in the interim more data will be written to the log
         //and the log file will eventually be synced by the next call in loop
-        log_d("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d\r\n", __LINE__);
+        log_d("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d", __LINE__);
       }
     }
 
@@ -697,7 +695,7 @@ void updateLogs()
         //While a retry does occur during the next loop, it is possible to loose
         //trigger events if they occur too rapidly or if the log file is closed
         //before the trigger event is written!
-        log_w("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d\r\n", __LINE__);
+        log_w("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d", __LINE__);
       }
     }
 
@@ -717,7 +715,7 @@ void updateLogs()
       {
         //This is OK because outputting this message is not critical to the RTK
         //operation and the message will be output by the next call in loop
-        log_d("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d\r\n", __LINE__);
+        log_d("sdCardSemaphore failed to yield, RTK_Surveyor.ino line %d", __LINE__);
       }
 
       if (fileSize > 0)
@@ -830,6 +828,7 @@ void updateRTC()
 //Internal ESP NOW radio - Use the ESP32 to directly transmit/receive RTCM over 2.4GHz (no WiFi needed)
 void updateRadio()
 {
+#ifdef COMPILE_ESPNOW
   if (settings.radioType == RADIO_ESPNOW)
   {
     if (espnowState == ESPNOW_PAIRED)
@@ -838,10 +837,8 @@ void updateRadio()
       //then we've reached the end of the RTCM stream. Send partial buffer.
       if (espnowOutgoingSpot > 0 && (millis() - espnowLastAdd) > 50)
       {
-#ifdef COMPILE_WIFI
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
         //log_d("ESPNOW: Sending %d bytes", espnowOutgoingSpot);
-#endif
         espnowOutgoingSpot = 0; //Reset
       }
 
@@ -851,4 +848,5 @@ void updateRadio()
         espnowRSSI = -255;
     }
   }
+#endif
 }
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 7031b983f..f96d9e3c6 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -116,7 +116,10 @@ void updateSystemState()
 
           i2cGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 0); //Disable RTCM sentences
 
+          wifiStop(); //Stop WiFi, ntripClient will start as needed.
           bluetoothStart(); //Turn on Bluetooth with 'Rover' name
+          radioStart(); //Start internal radio if enabled, otherwise disable
+
           startUART2Tasks(); //Start monitoring the UART1 from ZED for NMEA and UBX data (enables logging)
 
           settings.updateZEDSettings = false; //On the next boot, no need to update the ZED on this profile
@@ -315,9 +318,7 @@ void updateSystemState()
             if (settings.enableNtripServer == true)
               ntripServerStart();
 
-            //Start ESP-Now if requested
-            if (settings.radioType == RADIO_ESPNOW)
-              espnowStart();
+            radioStart(); //Start internal radio if enabled, otherwise disable
 
             rtcmPacketsSent = 0; //Reset any previous number
             changeState(STATE_BASE_TEMP_TRANSMITTING);
@@ -382,9 +383,7 @@ void updateSystemState()
             if (settings.enableNtripServer)
               ntripServerStart();
 
-            //Start ESP-Now if requested
-            if (settings.radioType == RADIO_ESPNOW)
-              espnowStart();
+            radioStart(); //Start internal radio if enabled, otherwise disable
 
             changeState(STATE_BASE_FIXED_TRANSMITTING);
           }
@@ -595,6 +594,9 @@ void updateSystemState()
           displayWiFiConfigNotStarted(); //Display immediately during SD cluster pause
 
           bluetoothStop();
+#ifdef COMPILE_ESPNOW
+          espnowStop();
+#endif
           stopUART2Tasks(); //Delete F9 serial tasks if running
           startWebServer(); //Start in AP mode and show config html page
 
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 2a88e0b12..67015d3c0 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -174,7 +174,7 @@ void F9PSerialReadTask(void *e)
           if (btBytesToSend > 0)
             online.txNtripDataCasting = true;
           else
-            log_w("WARNING - BT failed to send");
+            log_w("BT failed to send");
         }
         else
         {
@@ -187,7 +187,7 @@ void F9PSerialReadTask(void *e)
           }
           else
           {
-            log_w("WARNING - BT congestion delayed %d bytes, Tasks.ino line %d", btBytesToSend, __LINE__);
+            log_w("BT congestion delayed %d bytes, Tasks.ino line %d", btBytesToSend, __LINE__);
             btBytesToSend = 0;
           }
         }
@@ -240,7 +240,7 @@ void F9PSerialReadTask(void *e)
               Serial.printf("ERROR - Dropped %d bytes: GNSS --> log file\r\n", sdBytesToRecord);
             }
             else
-              log_w("WARNING - sdCardSemaphore failed to yield, Tasks.ino line %d", __LINE__);
+              log_w("sdCardSemaphore failed to yield, Tasks.ino line %d", __LINE__);
           }
         } //End maxLogTime
       } //End logging
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index f70727a90..c80008dd2 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -85,8 +85,10 @@ void menuMain()
       menuUserProfiles();
     else if (incoming == 'P' && online.lband == true)
       menuPointPerfect();
+#ifdef COMPILE_ESPNOW
     else if (incoming == 'r')
       menuRadio();
+#endif
     else if (incoming == 'f' && binCount > 0)
       menuFirmware();
     else if (incoming == 'x')
@@ -294,6 +296,7 @@ void factoryReset()
 //Configure the internal radio, if available
 void menuRadio()
 {
+#ifdef COMPILE_ESPNOW
   while (1)
   {
     Serial.println();
@@ -370,7 +373,8 @@ void menuRadio()
       printUnknown(incoming);
   }
 
-  beginRadio();
+  radioStart();
 
   while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+#endif
 }
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index 4b23b6264..d96ca31a9 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -485,7 +485,7 @@ void endLogging(bool gotSemaphore, bool releaseSemaphore)
     {
       //This is OK because in the interim more data will be written to the log
       //and the log file will eventually be closed by the next call in loop
-      log_d("sdCardSemaphore failed to yield, menuMessages.ino line %d\r\n", __LINE__);
+      log_d("sdCardSemaphore failed to yield, menuMessages.ino line %d", __LINE__);
     }
   }
 }
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
index b26c1fe7c..ab70d3024 100644
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
+++ b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
@@ -175,14 +175,13 @@ static esp_err_t _spp_queue_packet(uint8_t *data, size_t len){
 //At ~50kBps heap lowest point is ~78k and stable
 //Above 50kbps it becomes unstable
 
-const uint16_t SPP_TX_MAX = 330; //Original 
-//const uint16_t SPP_TX_MAX = 400; //Original 
-//const uint16_t SPP_TX_MAX = 1024*4; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
+//const uint16_t SPP_TX_MAX = 330; //Original 
+const uint16_t SPP_TX_MAX = 1024*4; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
 
 /*
-**Anything** other than 330 seems to cause the BT que to stop transmitting
-This started with the addition of the circular que. Resorting to original BT lib helps but the congestion
-is overwhelming.
+During ESP Now development the hardware got into a very bad state and Bluetooth was acting very
+oddly. Eventually, WiFi would not connect (Reason: 202 - AUTH_FAIL) even using stock examples.
+The solution was, unexplicably, a full flash erase. Everything worked after that.
 */
 
 static uint8_t _spp_tx_buffer[SPP_TX_MAX];

From db1412fb643555a8f027412f7f2479851cfa1a39 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 10:08:55 -0500
Subject: [PATCH 031/134] Add gates to ESP Now functions

---
 Firmware/RTK_Surveyor/WiFi.ino | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 4a7fefbbc..7d6d99249 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -145,8 +145,10 @@ void wifiStartAP()
 #define WIFI_PASSWORD "parachutes"
   WiFi.mode(WIFI_STA);
 
+#ifdef COMPILE_ESPNOW
   // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
   esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+#endif
 
   WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
   Serial.print("Wi-Fi connecting to");
@@ -161,8 +163,10 @@ void wifiStartAP()
   //Start in AP mode
   WiFi.mode(WIFI_AP);
 
+#ifdef COMPILE_ESPNOW
   // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
   esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+#endif
 
   IPAddress local_IP(192, 168, 4, 1);
   IPAddress gateway(192, 168, 1, 1);
@@ -203,12 +207,20 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
+#ifdef COMPILE_ESPNOW
     //If ESP-Now is active, reconfigure protocols
     if (espnowState > ESPNOW_OFF)
     {
+      Serial.println("Mixing WiFi into ESPNOW setup");
       //Enable WiFi + ESP-Now
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
     }
+    else
+    {
+      //Radio is off, turn it on
+      WiFi.mode(WIFI_STA);
+    }
+#endif
 
     Serial.printf("Wi-Fi connecting to %s\r\n", ssid);
     WiFi.begin(ssid, pw);
@@ -233,6 +245,8 @@ void wifiStop()
   {
     //Do nothing
   }
+
+#ifdef COMPILE_ESPNOW
   //If WiFi is on but ESP NOW is off, then turn off radio entirely
   else if (espnowState == ESPNOW_OFF)
   {
@@ -252,6 +266,12 @@ void wifiStop()
 
     Serial.println("Wi-Fi disabled, ESP-Now left in place");
   }
+#else
+  //Turn off radio
+  WiFi.mode(WIFI_OFF);
+  wifiSetState(WIFI_OFF);
+  Serial.println("Wi-Fi Stopped");
+#endif
 
   //Display the heap state
   reportHeapNow();

From 40b3d29f4995adfbccfc4c61eb729fc64c1c011c Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 10:27:52 -0500
Subject: [PATCH 032/134] Fix uptime

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 2 --
 Firmware/RTK_Surveyor/menuSystem.ino   | 7 ++++---
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 54035de9e..764f3b813 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -454,8 +454,6 @@ unsigned long rtcWaitTime = 0; //At poweron, we give the RTC a few seconds to up
 TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
 uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
-uint64_t uptime;
-uint32_t previousMilliseconds;
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*
                      +---------------------------------------+      +----------+
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index c1d5a5ac4..d0c593e84 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -107,7 +107,7 @@ void menuSystem()
     Serial.println();
 
     //Display the uptime
-    uint64_t uptimeMilliseconds = uptime;
+    uint64_t uptimeMilliseconds = millis();
     uint32_t uptimeDays = 0;
     while (uptimeMilliseconds >= MILLISECONDS_IN_A_DAY) {
       uptimeMilliseconds -= MILLISECONDS_IN_A_DAY;
@@ -129,12 +129,13 @@ void menuSystem()
       uptimeSeconds += 1;
     }
     Serial.print("Uptime: ");
-    Serial.printf("%d %02d:%02d:%02d.%03lld\r\n",
+    Serial.printf("%d %02d:%02d:%02d.%03lld (Resets: %d)\r\n",
                   uptimeDays,
                   uptimeHours,
                   uptimeMinutes,
                   uptimeSeconds,
-                  uptimeMilliseconds);
+                  uptimeMilliseconds,
+                  settings.resetCount);
 
     if (settings.enableSD == true)
     {

From 0ecf8eabed46da64e2d870c9cad9c361f1e49805 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Mon, 8 Aug 2022 06:53:43 -1000
Subject: [PATCH 033/134] Add define for COMPILE_L_BAND, move L-Band related
 items into menuPP.ino

The following items were moved into menuPP.ino
* L-Band variables
* beginLBand routine
---
 Firmware/RTK_Surveyor/Begin.ino        |  83 ------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  13 +-
 Firmware/RTK_Surveyor/States.ino       |   4 +
 Firmware/RTK_Surveyor/menuPP.ino       | 395 ++++++++++++++++---------
 4 files changed, 264 insertions(+), 231 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 931973247..60547cc76 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -710,89 +710,6 @@ bool beginExternalTriggers()
   return (response);
 }
 
-//Check if NEO-D9S is connected. Configure if available.
-void beginLBand()
-{
-  if (i2cLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
-  {
-    log_d("L-Band not detected");
-    return;
-  }
-
-  //Check the firmware version of the NEO-D9S. Based on Example21_ModuleInfo.
-  if (i2cLBand.getModuleInfo(1100) == true) // Try to get the module info
-  {
-    //i2cLBand.minfo.extension[1] looks like 'FWVER=HPG 1.12'
-    strcpy(neoFirmwareVersion, i2cLBand.minfo.extension[1]);
-
-    //Remove 'FWVER='. It's extraneous and = causes settings file parsing issues
-    char *ptr = strstr(neoFirmwareVersion, "FWVER=");
-    if (ptr != NULL)
-      strcpy(neoFirmwareVersion, ptr + strlen("FWVER="));
-
-    printNEOInfo(); //Print module firmware version
-  }
-
-  if (online.gnss == true)
-  {
-    i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
-    i2cGNSS.checkCallbacks(); //Process any callbacks: ie, eventTriggerReceived
-  }
-
-  //If we have a fix, check which frequency to use
-  if (fixType == 2 || fixType == 3 || fixType == 4 || fixType == 5) //2D, 3D, 3D+DR, or Time
-  {
-    if ( (longitude > -125 && longitude < -67) && (latitude > -90 && latitude < 90))
-    {
-      log_d("Setting L-Band to US");
-      settings.LBandFreq = 1556290000; //We are in US band
-    }
-    else if ( (longitude > -25 && longitude < 70) && (latitude > -90 && latitude < 90))
-    {
-      log_d("Setting L-Band to EU");
-      settings.LBandFreq = 1545260000; //We are in EU band
-    }
-    else
-    {
-      Serial.println("Unknown band area");
-      settings.LBandFreq = 1556290000; //Default to US
-    }
-    recordSystemSettings();
-  }
-  else
-    log_d("No fix available for L-Band frequency determination");
-
-  bool response = true;
-  response &= i2cLBand.setVal32(UBLOX_CFG_PMP_CENTER_FREQUENCY,   settings.LBandFreq); // Default 1539812500 Hz
-  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_SEARCH_WINDOW,      2200);        // Default 2200 Hz
-  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_SERVICE_ID,      0);           // Default 1
-  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_SERVICE_ID,         21845);       // Default 50821
-  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_DATA_RATE,          2400);        // Default 2400 bps
-  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_DESCRAMBLER,     1);           // Default 1
-  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_DESCRAMBLER_INIT,   26969);       // Default 23560
-  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_PRESCRAMBLING,   0);           // Default 0
-  response &= i2cLBand.setVal64(UBLOX_CFG_PMP_UNIQUE_WORD,        16238547128276412563ull);
-  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C,   1); // Ensure UBX-RXM-PMP is enabled on the I2C port
-  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART1, 1); // Output UBX-RXM-PMP on UART1
-  response &= i2cLBand.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1);         // Enable UBX output on UART2
-  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART2, 1); // Output UBX-RXM-PMP on UART2
-  response &= i2cLBand.setVal32(UBLOX_CFG_UART1_BAUDRATE,         38400); // match baudrate with ZED default
-  response &= i2cLBand.setVal32(UBLOX_CFG_UART2_BAUDRATE,         38400); // match baudrate with ZED default
-
-  if (response == false)
-    Serial.println("L-Band failed to configure");
-
-  i2cLBand.softwareResetGNSSOnly(); // Do a restart
-
-  i2cLBand.setRXMPMPmessageCallbackPtr(&pushRXMPMP); // Call pushRXMPMP when new PMP data arrives. Push it to the GNSS
-
-  i2cGNSS.setRXMCORcallbackPtr(&checkRXMCOR); // Check if the PMP data is being decrypted successfully
-
-  log_d("L-Band online");
-
-  online.lband = true;
-}
-
 void beginIdleTasks()
 {
   char taskName[32];
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 8ac894549..23050f1c7 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -28,6 +28,7 @@ const int FIRMWARE_VERSION_MINOR = 3;
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
+#define COMPILE_L_BAND //Comment out to remove L-Band functionality
 //#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
@@ -321,18 +322,6 @@ unsigned long timeSinceLastIncomingSetting = 0;
 
 //PointPerfect Corrections
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-SFE_UBLOX_GNSS_ADD i2cLBand; // NEO-D9S
-const char* pointPerfectKeyTopic = "/pp/ubx/0236/Lb";
-
-//The PointPerfect token is provided at compile time via build flags
-#ifndef POINTPERFECT_TOKEN
-#define POINTPERFECT_TOKEN 0xAA, 0xBB, 0xCC, 0xDD, 0x00, 0x11, 0x22, 0x33, 0x0A, 0x0B, 0x0C, 0x0D, 0x00, 0x01, 0x02, 0x03
-#endif
-
-uint8_t pointPerfectTokenArray[16] = {POINTPERFECT_TOKEN}; //Token in HEX form
-
-const char* pointPerfectAPI = "https://api.thingstream.io/ztp/pointperfect/credentials";
-void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct);
 float lBandEBNO = 0.0; //Used on system status menu
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 784e46792..21f789544 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -655,6 +655,7 @@ void updateSystemState()
         }
         break;
 
+#ifdef  COMPILE_L_BAND
       case (STATE_KEYS_STARTED):
         {
           if (rtcWaitTime == 0) rtcWaitTime = millis();
@@ -898,6 +899,7 @@ void updateSystemState()
           changeState(settings.lastState); //Go to either rover or base
         }
         break;
+#endif  //COMPILE_L_BAND
 
       case (STATE_SHUTDOWN):
         {
@@ -1002,6 +1004,7 @@ void changeState(SystemState newState)
       case (STATE_PROFILE):
         Serial.print("State: Profile");
         break;
+#ifdef  COMPILE_L_BAND
       case (STATE_KEYS_STARTED):
         Serial.print("State: Keys Started ");
         break;
@@ -1038,6 +1041,7 @@ void changeState(SystemState newState)
       case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
         Serial.print("State: Keys Provision - WiFi Timeout");
         break;
+#endif  //COMPILE_L_BAND
 
       case (STATE_SHUTDOWN):
         Serial.print("State: Shut Down");
diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index e958e8126..b59cf7ccc 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -1,133 +1,30 @@
-//Set 'home' WiFi credentials
-//Provision device on ThingStream
-//Download keys
-void menuPointPerfect()
-{
-  int menuTimeoutExtended = 30; //Increase time needed for complex data entry (mount point ID, caster credentials, etc).
-
-  while (1)
-  {
-    Serial.println();
-    Serial.println("Menu: PointPerfect Corrections");
-
-    char hardwareID[13];
-    sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]); //Get ready for JSON
-    Serial.printf("Device ID: %s\n\r", hardwareID);
-
-    Serial.print("Days until keys expire: ");
-    if (strlen(settings.pointPerfectCurrentKey) > 0)
-    {
-      uint8_t daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
-      Serial.println(daysRemaining);
-    }
-    else
-      Serial.println("No keys");
-
-    Serial.print("1) Use PointPerfect Corrections: ");
-    if (settings.enablePointPerfectCorrections == true) Serial.println("Enabled");
-    else Serial.println("Disabled");
-
-    Serial.print("2) Set Home WiFi SSID: ");
-    Serial.println(settings.home_wifiSSID);
-
-    Serial.print("3) Set Home WiFi PW: ");
-    Serial.println(settings.home_wifiPW);
-
-    Serial.print("4) Toggle Auto Key Renewal: ");
-    if (settings.autoKeyRenewal == true) Serial.println("Enabled");
-    else Serial.println("Disabled");
-
-    if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
-      Serial.println("5) Provision Device");
-    else
-      Serial.println("5) Update Keys");
-
-    Serial.println("k) Manual Key Entry");
+#ifdef  COMPILE_L_BAND
 
-    Serial.println("x) Exit");
+//----------------------------------------
+// Locals - compiled out
+//----------------------------------------
 
-    byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
-
-    if (incoming == '1')
-    {
-      settings.enablePointPerfectCorrections ^= 1;
-    }
-    else if (incoming == '2')
-    {
-      Serial.print("Enter Home WiFi SSID: ");
-      readLine(settings.home_wifiSSID, sizeof(settings.home_wifiSSID), menuTimeoutExtended);
-    }
-    else if (incoming == '3')
-    {
-      Serial.printf("Enter password for Home WiFi network %s: ", settings.home_wifiSSID);
-      readLine(settings.home_wifiPW, sizeof(settings.home_wifiPW), menuTimeoutExtended);
-    }
-    else if (incoming == '4')
-    {
-      settings.autoKeyRenewal ^= 1;
-    }
-    else if (incoming == '5')
-    {
-#ifdef COMPILE_WIFI
-      wifiStart(settings.home_wifiSSID, settings.home_wifiPW);
-
-      unsigned long startTime = millis();
-      while (wifiGetStatus() != WL_CONNECTED)
-      {
-        delay(500);
-        Serial.print(".");
-        if (millis() - startTime > 8000) break; //Give up after 8 seconds
-      }
+static SFE_UBLOX_GNSS_ADD i2cLBand; // NEO-D9S
+static const char* pointPerfectKeyTopic = "/pp/ubx/0236/Lb";
 
-      if (wifiGetStatus() == WL_CONNECTED)
-      {
+//The PointPerfect token is provided at compile time via build flags
+#ifndef POINTPERFECT_TOKEN
+#define POINTPERFECT_TOKEN 0xAA, 0xBB, 0xCC, 0xDD, 0x00, 0x11, 0x22, 0x33, 0x0A, 0x0B, 0x0C, 0x0D, 0x00, 0x01, 0x02, 0x03
+#endif
 
-        Serial.println();
-        Serial.print("WiFi connected: ");
-        Serial.println(wifiGetIpAddress());
+static uint8_t pointPerfectTokenArray[16] = {POINTPERFECT_TOKEN}; //Token in HEX form
 
-        //Check if we have certificates
-        char fileName[80];
-        sprintf(fileName, "/%s_%s_%d.txt", platformFilePrefix, "certificate", profileNumber);
-        if (LittleFS.exists(fileName) == false)
-        {
-          provisionDevice(); //Connect to ThingStream API and get keys
-        }
-        else if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
-        {
-          provisionDevice(); //Connect to ThingStream API and get keys
-        }
-        else
-          updatePointPerfectKeys();
-      }
+static const char* pointPerfectAPI = "https://api.thingstream.io/ztp/pointperfect/credentials";
 
-      bluetoothStart();
-#endif
-    }
-    else if (incoming == '6')
-    {
-      LittleFS.format();
-      log_d("Formatted");
-    }
-    else if (incoming == 'k')
-    {
-      menuPointPerfectKeys();
-    }
-    else if (incoming == 'x')
-      break;
-    else if (incoming == STATUS_GETBYTE_TIMEOUT)
-      break;
-    else
-      printUnknown(incoming);
-  }
+//----------------------------------------
+// Forward declarations - compiled out
+//----------------------------------------
 
-  if (strlen(settings.pointPerfectClientID) > 0)
-  {
-    applyLBandKeys();
-  }
+void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct);
 
-  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
-}
+//----------------------------------------
+// L-Band Routines - compiled out
+//----------------------------------------
 
 void menuPointPerfectKeys()
 {
@@ -776,20 +673,6 @@ long gpsToMjd(long GpsCycle, long GpsWeek, long GpsSeconds)
   return dateToMjd(1980, 1, 6) + GpsDays;
 }
 
-//Process any new L-Band from I2C
-//If a certain amount of time has elapsed between last decryption, turn off L-Band icon
-void updateLBand()
-{
-  if (online.lbandCorrections == true)
-  {
-    i2cLBand.checkUblox(); // Check for the arrival of new PMP data and process it.
-    i2cLBand.checkCallbacks(); // Check if any L-Band callbacks are waiting to be processed.
-
-    if (lbandCorrectionsReceived == true && millis() - lastLBandDecryption > 5000)
-      lbandCorrectionsReceived = false;
-  }
-}
-
 //When new PMP message arrives from NEO-D9S push it back to ZED-F9P
 void pushRXMPMP(UBX_RXM_PMP_message_data_t *pmpData)
 {
@@ -879,3 +762,243 @@ void checkRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
     log_d("PMP decryption failed");
   }
 }
+
+#endif  //COMPILE_L_BAND
+
+//----------------------------------------
+// Global L-Band Routines
+//----------------------------------------
+
+//Check if NEO-D9S is connected. Configure if available.
+void beginLBand()
+{
+#ifdef  COMPILE_L_BAND
+  if (i2cLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
+  {
+    log_d("L-Band not detected");
+    return;
+  }
+
+  //Check the firmware version of the NEO-D9S. Based on Example21_ModuleInfo.
+  if (i2cLBand.getModuleInfo(1100) == true) // Try to get the module info
+  {
+    //i2cLBand.minfo.extension[1] looks like 'FWVER=HPG 1.12'
+    strcpy(neoFirmwareVersion, i2cLBand.minfo.extension[1]);
+
+    //Remove 'FWVER='. It's extraneous and = causes settings file parsing issues
+    char *ptr = strstr(neoFirmwareVersion, "FWVER=");
+    if (ptr != NULL)
+      strcpy(neoFirmwareVersion, ptr + strlen("FWVER="));
+
+    printNEOInfo(); //Print module firmware version
+  }
+
+  if (online.gnss == true)
+  {
+    i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
+    i2cGNSS.checkCallbacks(); //Process any callbacks: ie, eventTriggerReceived
+  }
+
+  //If we have a fix, check which frequency to use
+  if (fixType == 2 || fixType == 3 || fixType == 4 || fixType == 5) //2D, 3D, 3D+DR, or Time
+  {
+    if ( (longitude > -125 && longitude < -67) && (latitude > -90 && latitude < 90))
+    {
+      log_d("Setting L-Band to US");
+      settings.LBandFreq = 1556290000; //We are in US band
+    }
+    else if ( (longitude > -25 && longitude < 70) && (latitude > -90 && latitude < 90))
+    {
+      log_d("Setting L-Band to EU");
+      settings.LBandFreq = 1545260000; //We are in EU band
+    }
+    else
+    {
+      Serial.println("Unknown band area");
+      settings.LBandFreq = 1556290000; //Default to US
+    }
+    recordSystemSettings();
+  }
+  else
+    log_d("No fix available for L-Band frequency determination");
+
+  bool response = true;
+  response &= i2cLBand.setVal32(UBLOX_CFG_PMP_CENTER_FREQUENCY,   settings.LBandFreq); // Default 1539812500 Hz
+  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_SEARCH_WINDOW,      2200);        // Default 2200 Hz
+  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_SERVICE_ID,      0);           // Default 1
+  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_SERVICE_ID,         21845);       // Default 50821
+  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_DATA_RATE,          2400);        // Default 2400 bps
+  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_DESCRAMBLER,     1);           // Default 1
+  response &= i2cLBand.setVal16(UBLOX_CFG_PMP_DESCRAMBLER_INIT,   26969);       // Default 23560
+  response &= i2cLBand.setVal8(UBLOX_CFG_PMP_USE_PRESCRAMBLING,   0);           // Default 0
+  response &= i2cLBand.setVal64(UBLOX_CFG_PMP_UNIQUE_WORD,        16238547128276412563ull);
+  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_I2C,   1); // Ensure UBX-RXM-PMP is enabled on the I2C port
+  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART1, 1); // Output UBX-RXM-PMP on UART1
+  response &= i2cLBand.setVal(UBLOX_CFG_UART2OUTPROT_UBX, 1);         // Enable UBX output on UART2
+  response &= i2cLBand.setVal(UBLOX_CFG_MSGOUT_UBX_RXM_PMP_UART2, 1); // Output UBX-RXM-PMP on UART2
+  response &= i2cLBand.setVal32(UBLOX_CFG_UART1_BAUDRATE,         38400); // match baudrate with ZED default
+  response &= i2cLBand.setVal32(UBLOX_CFG_UART2_BAUDRATE,         38400); // match baudrate with ZED default
+
+  if (response == false)
+    Serial.println("L-Band failed to configure");
+
+  i2cLBand.softwareResetGNSSOnly(); // Do a restart
+
+  i2cLBand.setRXMPMPmessageCallbackPtr(&pushRXMPMP); // Call pushRXMPMP when new PMP data arrives. Push it to the GNSS
+
+  i2cGNSS.setRXMCORcallbackPtr(&checkRXMCOR); // Check if the PMP data is being decrypted successfully
+
+  log_d("L-Band online");
+
+  online.lband = true;
+#endif  //COMPILE_L_BAND
+}
+
+//Set 'home' WiFi credentials
+//Provision device on ThingStream
+//Download keys
+void menuPointPerfect()
+{
+#ifdef  COMPILE_L_BAND
+  int menuTimeoutExtended = 30; //Increase time needed for complex data entry (mount point ID, caster credentials, etc).
+
+  while (1)
+  {
+    Serial.println();
+    Serial.println("Menu: PointPerfect Corrections");
+
+    char hardwareID[13];
+    sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]); //Get ready for JSON
+    Serial.printf("Device ID: %s\n\r", hardwareID);
+
+    Serial.print("Days until keys expire: ");
+    if (strlen(settings.pointPerfectCurrentKey) > 0)
+    {
+      uint8_t daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
+      Serial.println(daysRemaining);
+    }
+    else
+      Serial.println("No keys");
+
+    Serial.print("1) Use PointPerfect Corrections: ");
+    if (settings.enablePointPerfectCorrections == true) Serial.println("Enabled");
+    else Serial.println("Disabled");
+
+    Serial.print("2) Set Home WiFi SSID: ");
+    Serial.println(settings.home_wifiSSID);
+
+    Serial.print("3) Set Home WiFi PW: ");
+    Serial.println(settings.home_wifiPW);
+
+    Serial.print("4) Toggle Auto Key Renewal: ");
+    if (settings.autoKeyRenewal == true) Serial.println("Enabled");
+    else Serial.println("Disabled");
+
+    if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
+      Serial.println("5) Provision Device");
+    else
+      Serial.println("5) Update Keys");
+
+    Serial.println("k) Manual Key Entry");
+
+    Serial.println("x) Exit");
+
+    byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
+
+    if (incoming == '1')
+    {
+      settings.enablePointPerfectCorrections ^= 1;
+    }
+    else if (incoming == '2')
+    {
+      Serial.print("Enter Home WiFi SSID: ");
+      readLine(settings.home_wifiSSID, sizeof(settings.home_wifiSSID), menuTimeoutExtended);
+    }
+    else if (incoming == '3')
+    {
+      Serial.printf("Enter password for Home WiFi network %s: ", settings.home_wifiSSID);
+      readLine(settings.home_wifiPW, sizeof(settings.home_wifiPW), menuTimeoutExtended);
+    }
+    else if (incoming == '4')
+    {
+      settings.autoKeyRenewal ^= 1;
+    }
+    else if (incoming == '5')
+    {
+#ifdef COMPILE_WIFI
+      wifiStart(settings.home_wifiSSID, settings.home_wifiPW);
+
+      unsigned long startTime = millis();
+      while (wifiGetStatus() != WL_CONNECTED)
+      {
+        delay(500);
+        Serial.print(".");
+        if (millis() - startTime > 8000) break; //Give up after 8 seconds
+      }
+
+      if (wifiGetStatus() == WL_CONNECTED)
+      {
+
+        Serial.println();
+        Serial.print("WiFi connected: ");
+        Serial.println(wifiGetIpAddress());
+
+        //Check if we have certificates
+        char fileName[80];
+        sprintf(fileName, "/%s_%s_%d.txt", platformFilePrefix, "certificate", profileNumber);
+        if (LittleFS.exists(fileName) == false)
+        {
+          provisionDevice(); //Connect to ThingStream API and get keys
+        }
+        else if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
+        {
+          provisionDevice(); //Connect to ThingStream API and get keys
+        }
+        else
+          updatePointPerfectKeys();
+      }
+
+      bluetoothStart();
+#endif
+    }
+    else if (incoming == '6')
+    {
+      LittleFS.format();
+      log_d("Formatted");
+    }
+    else if (incoming == 'k')
+    {
+      menuPointPerfectKeys();
+    }
+    else if (incoming == 'x')
+      break;
+    else if (incoming == STATUS_GETBYTE_TIMEOUT)
+      break;
+    else
+      printUnknown(incoming);
+  }
+
+  if (strlen(settings.pointPerfectClientID) > 0)
+  {
+    applyLBandKeys();
+  }
+
+  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+#endif  //COMPILE_L_BAND
+}
+
+//Process any new L-Band from I2C
+//If a certain amount of time has elapsed between last decryption, turn off L-Band icon
+void updateLBand()
+{
+#ifdef  COMPILE_L_BAND
+  if (online.lbandCorrections == true)
+  {
+    i2cLBand.checkUblox(); // Check for the arrival of new PMP data and process it.
+    i2cLBand.checkCallbacks(); // Check if any L-Band callbacks are waiting to be processed.
+
+    if (lbandCorrectionsReceived == true && millis() - lastLBandDecryption > 5000)
+      lbandCorrectionsReceived = false;
+  }
+#endif  //COMPILE_L_BAND
+}

From 262ab2fe3afbfb95c381bc9351ac5999a9bfca0a Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 14:19:07 -0500
Subject: [PATCH 034/134] Always update resetCount to aid uptime print

---
 Firmware/RTK_Surveyor/Begin.ino | 22 ++++++----------------
 1 file changed, 6 insertions(+), 16 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index cc3b269c4..f2f066fd6 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -147,28 +147,16 @@ void beginBoard()
   unitMACAddress[5] += 2; //Convert MAC address to Bluetooth MAC (add 2): https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/system.html#mac-address
 
   //For all boards, check reset reason. If reset was due to wdt or panic, append last log
+  loadSettingsPartial(); //Get resetCount
   if (esp_reset_reason() == ESP_RST_POWERON)
   {
     reuseLastLog = false; //Start new log
-
-    loadSettingsPartial();
-    if (settings.enableResetDisplay == true)
-    {
-      settings.resetCount = 0;
-      recordSystemSettings(); //Record to NVM
-    }
+    settings.resetCount = 0;
   }
   else
   {
     reuseLastLog = true; //Attempt to reuse previous log
-
-    loadSettingsPartial();
-    if (settings.enableResetDisplay == true)
-    {
-      settings.resetCount++;
-      Serial.printf("resetCount: %d\n\r", settings.resetCount);
-      recordSystemSettings(); //Record to NVM
-    }
+    settings.resetCount++;
 
     Serial.print("Reset reason: ");
     switch (esp_reset_reason())
@@ -186,6 +174,8 @@ void beginBoard()
       default : Serial.println("Unknown");
     }
   }
+
+  recordSystemSettings(); //Record resetCount to NVM
 }
 
 void beginSD()
@@ -715,7 +705,7 @@ bool beginExternalTriggers()
 //Check if NEO-D9S is connected. Configure if available.
 void beginLBand()
 {
-  if(settings.enablePointPerfectCorrections == false) return; //If user has turned off PointPerfect, skip everything
+  if (settings.enablePointPerfectCorrections == false) return; //If user has turned off PointPerfect, skip everything
 
   if (i2cLBand.begin(Wire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
   {

From 764349748356b8c8ba402c513a122c29c74c707e Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 14:23:40 -0500
Subject: [PATCH 035/134] NTRIP Client bug fixes and GGA add

Add min bytes received before reading response.
Add GGA sending.
Add WiFi RSSI printing.
Fix comments

I believe the client was parsing a partial response from the server when ntripClientReceiveDataAvailable() returned something less than strlen("ICY 200 OK"). Also, the coffee shop AP seems to be blocking or throttling port 2101. When in doubt, test with a cell phone hotspot or other device that guarantees 2101.
---
 Firmware/RTK_Surveyor/NtripClient.ino  | 68 +++++++++++++++++++++-----
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  2 +
 2 files changed, 59 insertions(+), 11 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index f52137019..3bcb0eaa5 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -1,6 +1,6 @@
 /*=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-NTRIP Client States:
-    NTRIP_CLIENT_OFF: Using Bluetooth or NTRIP server
+  NTRIP Client States:
+    NTRIP_CLIENT_OFF: WiFi off or or NTRIP server
     NTRIP_CLIENT_ON: WIFI_ON state
     NTRIP_CLIENT_WIFI_CONNECTING: Connecting to WiFi access point
     NTRIP_CLIENT_WIFI_CONNECTED: WiFi connected to an access point
@@ -29,7 +29,7 @@ NTRIP Client States:
                                        v                Fail  |
                             NTRIP_CLIENT_CONNECTED -----------'
 
-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
+  =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
 //----------------------------------------
 // Constants - compiled out
@@ -44,7 +44,7 @@ static const int CREDENTIALS_BUFFER_SIZE = 512;
 static const int MAX_NTRIP_CLIENT_CONNECTION_ATTEMPTS = 3;
 
 //NTRIP caster response timeout
-static const uint32_t NTRIP_CLIENT_RESPONSE_TIMEOUT = 5 * 1000; //Milliseconds
+static const uint32_t NTRIP_CLIENT_RESPONSE_TIMEOUT = 10 * 1000; //Milliseconds
 
 //NTRIP client receive data timeout
 static const uint32_t NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT = 10 * 1000; //Milliseconds
@@ -73,6 +73,9 @@ static uint32_t ntripClientTimer;
 //Last time the NTRIP client state was displayed
 static uint32_t lastNtripClientState = 0;
 
+//Throttle GGA transmission to Caster to 1 report every 5 seconds
+unsigned long lastGGAPush = 0;
+
 //----------------------------------------
 // NTRIP Client Routines - compiled out
 //----------------------------------------
@@ -85,7 +88,7 @@ void ntripClientAllowMoreConnections()
 bool ntripClientConnect()
 {
   if ((!ntripClient)
-    || (!ntripClient->connect(settings.ntripClient_CasterHost, settings.ntripClient_CasterPort)))
+      || (!ntripClient->connect(settings.ntripClient_CasterHost, settings.ntripClient_CasterPort)))
     return false;
   Serial.printf("NTRIP Client connected to %s:%d\n\r", settings.ntripClient_CasterHost, settings.ntripClient_CasterPort);
 
@@ -280,6 +283,10 @@ void ntripClientStop(bool done)
   if (ntripClientState > NTRIP_CLIENT_ON)
     wifiStop();
 
+  // Return the Main Talker ID to "GN".
+  i2cGNSS.setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GN);
+  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Remove callback
+
   //Determine the next NTRIP client state
   ntripClientSetState((ntripClient && (!done)) ? NTRIP_CLIENT_ON : NTRIP_CLIENT_OFF);
   online.ntripClient = false;
@@ -320,6 +327,8 @@ void ntripClientUpdate()
           if (ntripClientConnectLimitReached())
             //Display the WiFi failure
             paintNtripWiFiFail(4000, true);
+
+          //TODO WiFi not available, give up, disable future attempts
         }
       }
       else
@@ -346,7 +355,7 @@ void ntripClientUpdate()
 
     case NTRIP_CLIENT_CONNECTING:
       //Check for no response from the caster service
-      if (ntripClientReceiveDataAvailable() == 0)
+      if (ntripClientReceiveDataAvailable() < strlen("ICY 200 OK")) //Wait until at least a few bytes have arrived
       {
         //Check for response timeout
         if (millis() - ntripClientTimer > NTRIP_CLIENT_RESPONSE_TIMEOUT)
@@ -362,6 +371,8 @@ void ntripClientUpdate()
         char response[512];
         ntripClientResponse(&response[0], sizeof(response));
 
+        //Serial.printf("Response: %s\n\r", response);
+
         //Look for '200 OK'
         if (strstr(response, "200") == NULL)
         {
@@ -378,6 +389,16 @@ void ntripClientUpdate()
           //Connection is now open, start the NTRIP receive data timer
           ntripClientTimer = millis();
 
+          // Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
+          i2cGNSS.setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
+          i2cGNSS.setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA
+
+          float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
+          if (measurementFrequency < 0.2) measurementFrequency = 0.2; //0.2Hz * 5 = 1 measurement every 5 seconds
+          i2cGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, measurementFrequency * 5); // Enable GGA over I2C. Tell the module to output GGA every 5 seconds
+
+          lastGGAPush = millis();
+
           //We don't use a task because we use I2C hardware (and don't have a semphore).
           online.ntripClient = true;
           ntripClientAllowMoreConnections();
@@ -402,14 +423,13 @@ void ntripClientUpdate()
           if ((millis() - ntripClientTimer) > NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT)
           {
             //Timeout receiving NTRIP data, retry the NTRIP client connection
-            Serial.println("NTRIP Client timeout");
+            Serial.println("NTRIP Client: No data received timeout");
             ntripClientStop(false);
           }
         }
         else
         {
-          //Received data from the NTRIP server
-          //5 RTCM messages take approximately ~300ms to arrive at 115200bps
+          //Receive data from the NTRIP Caster
           uint8_t rtcmData[RTCM_DATA_SIZE];
           size_t rtcmCount = 0;
 
@@ -428,10 +448,36 @@ void ntripClientUpdate()
           i2cGNSS.pushRawData(rtcmData, rtcmCount);
           online.rxRtcmCorrectionData = true;
 
-          //log_d("NTRIP Client pushed %d RTCM bytes to ZED", rtcmCount);
+          log_d("NTRIP Client pushed %d RTCM bytes to ZED", rtcmCount);
         }
       }
+
+      if (millis() - lastRSSIUpdate > 5000)
+      {
+        lastRSSIUpdate = millis();
+        Serial.printf("WiFi RSSI: %d\n\r", WiFi.RSSI());
+      }
+
       break;
   }
- #endif  //COMPILE_WIFI
+#endif  //COMPILE_WIFI
+}
+
+void pushGPGGA(NMEA_GGA_data_t *nmeaData)
+{
+#ifdef  COMPILE_WIFI
+  //Provide the caster with our current position as needed
+  if ((ntripClient->connected() == true) && (settings.ntripClient_TransmitGGA == true))
+  {
+    if (millis() - lastGGAPush > 5000)
+    {
+      lastGGAPush = millis();
+      //Serial.print(F("Pushing GGA to server: "));
+      //Serial.print((const char *)nmeaData->nmea); // .nmea is printable (NULL-terminated) and already has \r\n on the end
+
+      //Push our current GGA sentence to caster
+      ntripClient->print((const char *)nmeaData->nmea);
+    }
+  }
+#endif
 }
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 764f3b813..cd67aa3b9 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -454,6 +454,8 @@ unsigned long rtcWaitTime = 0; //At poweron, we give the RTC a few seconds to up
 TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
 uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
+unsigned long lastRSSIUpdate = 0; //Print RSSI when connected every few seconds
+
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*
                      +---------------------------------------+      +----------+

From 68243068db5d80865ee6ca173fe46aa279c249da Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 8 Aug 2022 15:27:08 -0500
Subject: [PATCH 036/134] Fix NTRIP Server

Add strlen() check of response
Fix RTCM packet counting if checker turned off
Add RSSI print during NTRIP

I believe the NTRIP_SERVER_AUTHORIZATION was failing because the ntripServer->available() needs to be large enough for an ICY 200 OK check. Additionally, an AP that correctly forward port 2101 is needed.

RTCM counting was not working if the checker was turned off. Fix: if checker is disabled, RTCM count is increased with every byte.
---
 Firmware/RTK_Surveyor/NtripClient.ino  |  6 +--
 Firmware/RTK_Surveyor/NtripServer.ino  | 66 ++++++++++++++++----------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  2 +-
 3 files changed, 44 insertions(+), 30 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index 3bcb0eaa5..92f36c65b 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -452,10 +452,10 @@ void ntripClientUpdate()
         }
       }
 
-      if (millis() - lastRSSIUpdate > 5000)
+      if (millis() - lastWifiRSSIUpdate > 5000)
       {
-        lastRSSIUpdate = millis();
-        Serial.printf("WiFi RSSI: %d\n\r", WiFi.RSSI());
+        lastWifiRSSIUpdate = millis();
+        Serial.printf("NTRIP WiFi RSSI: %d\n\r", WiFi.RSSI());
       }
 
       break;
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index d1822d5a7..10def7dae 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -1,5 +1,5 @@
 /*=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-NTRIP Server States:
+  NTRIP Server States:
     NTRIP_SERVER_OFF: Using Bluetooth or NTRIP server
     NTRIP_SERVER_ON: WIFI_ON state
     NTRIP_SERVER_WIFI_CONNECTING: Connecting to WiFi access point
@@ -44,7 +44,7 @@ NTRIP Server States:
                     |                  | Close Server connection
                     '------------------'
 
-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
+  =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
 //----------------------------------------
 // Constants - compiled out
@@ -99,7 +99,7 @@ bool ntripServerConnectCaster()
 
   //Note the connection to the NTRIP caster
   Serial.printf("Connected to %s:%d\n\r", settings.ntripServer_CasterHost,
-                                          settings.ntripServer_CasterPort);
+                settings.ntripServer_CasterPort);
 
   //Build the authorization credentials message
   //  * Mount point
@@ -192,10 +192,10 @@ bool ntripServerRtcmMessage(uint8_t data)
       //Wait for the preamble byte
       ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
 
-      //Fall through
-      //     |
-      //     |
-      //     V
+    //Fall through
+    //     |
+    //     |
+    //     V
 
     //Wait for the preamble byte (0xd3)
     case RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3:
@@ -368,8 +368,16 @@ void ntripServerProcessRTCM(uint8_t incoming)
     }
     previousMilliseconds = currentMilliseconds;
 
-    //Parse the RTCM message
-    if ((!settings.enableNtripServerMessageParsing) || ntripServerRtcmMessage(incoming))
+    //Pass this message to the RTCM checker
+    bool passAlongIncomingByte = true;
+    
+    //Check this byte with RTCM checker if enabled
+    if (settings.enableNtripServerMessageParsing == true)
+      passAlongIncomingByte &= ntripServerRtcmMessage(incoming);
+    else
+      rtcmPacketsSent++; //If not checking RTCM CRC, count every byte
+
+    if (passAlongIncomingByte)
     {
       ntripServer->write(incoming); //Send this byte to socket
       ntripServerBytesSent++;
@@ -396,7 +404,7 @@ void ntripServerStart()
 
   //Start the NTRIP server if enabled
   if ((settings.ntripServer_StartAtSurveyIn == true)
-    || (settings.enableNtripServer == true))
+      || (settings.enableNtripServer == true))
   {
     //Display the heap state
     reportHeapNow();
@@ -487,7 +495,7 @@ void ntripServerUpdate()
         ntripServerSetState(NTRIP_SERVER_WIFI_CONNECTED);
 
         // Start the SD card server
-//        sdCardServerBegin(&server, true, true);
+        //        sdCardServerBegin(&server, true, true);
       }
       break;
 
@@ -510,27 +518,27 @@ void ntripServerUpdate()
 
     //Initiate the connection to the NTRIP caster
     case NTRIP_SERVER_CONNECTING:
-        //Attempt a connection to the NTRIP caster
-        if (!ntripServerConnectCaster())
-        {
-          log_d("NTRIP Server caster failed to connect. Trying again.");
+      //Attempt a connection to the NTRIP caster
+      if (!ntripServerConnectCaster())
+      {
+        log_d("NTRIP Server caster failed to connect. Trying again.");
 
-          //Assume service not available
-          if (ntripServerConnectLimitReached())
-            Serial.println("NTRIP Server failed to connect! Do you have your caster address and port correct?");
-        }
-        else
-        {
-          //Connection open to NTRIP caster, wait for the authorization response
-          ntripServerTimer = millis();
-          ntripServerSetState(NTRIP_SERVER_AUTHORIZATION);
-        }
+        //Assume service not available
+        if (ntripServerConnectLimitReached())
+          Serial.println("NTRIP Server failed to connect! Do you have your caster address and port correct?");
+      }
+      else
+      {
+        //Connection open to NTRIP caster, wait for the authorization response
+        ntripServerTimer = millis();
+        ntripServerSetState(NTRIP_SERVER_AUTHORIZATION);
+      }
       break;
 
     //Wait for authorization response
     case NTRIP_SERVER_AUTHORIZATION:
       //Check if caster service responded
-      if (ntripServer->available() == 0)
+      if (ntripServer->available() < strlen("ICY 200 OK")) //Wait until at least a few bytes have arrived
       {
         //Check for response timeout
         if (millis() - ntripServerTimer > 5000)
@@ -590,6 +598,12 @@ void ntripServerUpdate()
       }
       else
         cyclePositionLEDs();
+
+      if (millis() - lastWifiRSSIUpdate > 5000)
+      {
+        lastWifiRSSIUpdate = millis();
+        Serial.printf("NTRIP WiFi RSSI: %d\n\r", WiFi.RSSI());
+      }
       break;
   }
 #endif  //COMPILE_WIFI
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index cd67aa3b9..b1e549469 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -454,7 +454,7 @@ unsigned long rtcWaitTime = 0; //At poweron, we give the RTC a few seconds to up
 TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
 uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
-unsigned long lastRSSIUpdate = 0; //Print RSSI when connected every few seconds
+unsigned long lastWifiRSSIUpdate = 0; //Print RSSI when connected every few seconds
 
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*

From d3f94bf3342747cf8981d68626859bb3ee64e86b Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 9 Aug 2022 20:45:22 -0600
Subject: [PATCH 037/134] Fix ESPNOW state change error

---
 Firmware/RTK_Surveyor/Base.ino   | 4 ++--
 Firmware/RTK_Surveyor/ESPNOW.ino | 4 ++--
 Firmware/RTK_Surveyor/settings.h | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index 7c7f50f7a..2e394d9fe 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -230,7 +230,7 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
   ntripServerProcessRTCM(incoming);
 
 #ifdef COMPILE_ESPNOW
-  if (wifiState == ESPNOW_PAIRED)
+  if (espnowState == ESPNOW_PAIRED)
   {
     //Move this byte into ESP NOW to send buffer
     espnowOutgoing[espnowOutgoingSpot++] = incoming;
@@ -241,7 +241,7 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
       espnowOutgoingSpot = 0; //Wrap
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
       delay(10); //We need a small delay between sending multiple packets
-      //log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
+      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
     }
   }
 #endif
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 6ee453b0e..114556039 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -102,7 +102,7 @@ void espnowStart()
   //If ESP-Now is active, WiFi is active, do nothing
   else
   {
-    Serial.println("Wi-Fi on, ESP-Now on");
+    Serial.println("Wi-Fi already on, ESP-Now already on");
   }
 
   // Init ESP-NOW
@@ -299,7 +299,7 @@ esp_err_t espnowRemovePeer(uint8_t *peerMac)
 }
 
 //Update the state of the ESP Now state machine
-void espnowSetState(byte newState)
+void espnowSetState(ESPNOWState newState)
 {
   if (espnowState == newState)
     Serial.print("*");
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 7d1051896..44efe19e9 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -114,15 +114,15 @@ enum WiFiState
 };
 volatile byte wifiState = WIFI_OFF;
 
-enum ESPNOWState
+typedef enum ESPNOWState
 {
   ESPNOW_OFF,
   ESPNOW_ON,
   ESPNOW_PAIRING,
   ESPNOW_MAC_RECEIVED,
   ESPNOW_PAIRED,
-};
-volatile byte espnowState = ESPNOW_OFF;
+} ESPNOWState;
+volatile ESPNOWState espnowState = ESPNOW_OFF;
 
 enum NTRIPClientState
 {

From ccd25d636a197b56df2c4eb257b359f5cb9d7cd3 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 9 Aug 2022 20:51:19 -0600
Subject: [PATCH 038/134] Gate idle time calculations

---
 Firmware/RTK_Surveyor/Begin.ino        | 31 ++++++++++++++------------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  2 +-
 2 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index f2f066fd6..02451f9b3 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -789,20 +789,23 @@ void beginLBand()
 
 void beginIdleTasks()
 {
-  char taskName[32];
-
-  for (int index = 0; index < MAX_CPU_CORES; index++)
-  {
-    sprintf(taskName, "IdleTask%d", index);
-    if (idleTaskHandle[index] == NULL)
-      xTaskCreatePinnedToCore(
-        idleTask,
-        taskName, //Just for humans
-        2000, //Stack Size
-        NULL, //Task input parameter
-        0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
-        &idleTaskHandle[index], //Task handle
-        index); //Core where task should run, 0=core, 1=Arduino
+  if (settings.enablePrintIdleTime == true)
+  {
+    char taskName[32];
+
+    for (int index = 0; index < MAX_CPU_CORES; index++)
+    {
+      sprintf(taskName, "IdleTask%d", index);
+      if (idleTaskHandle[index] == NULL)
+        xTaskCreatePinnedToCore(
+          idleTask,
+          taskName, //Just for humans
+          2000, //Stack Size
+          NULL, //Task input parameter
+          0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
+          &idleTaskHandle[index], //Task handle
+          index); //Core where task should run, 0=core, 1=Arduino
+    }
   }
 }
 
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index b1e549469..2662e7e0f 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -534,7 +534,7 @@ void setup()
 {
   Serial.begin(115200); //UART0 for programming and debugging
 
-  beginIdleTasks();
+  beginIdleTasks(); //Enable processor load calculations
 
   beginI2C();
 

From 0011f9930c8e1625780129de9b44b5554addbf09 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 09:37:41 -0600
Subject: [PATCH 039/134] Move idleTask start after settings are loaded

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 2662e7e0f..3cc9c4391 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -534,8 +534,6 @@ void setup()
 {
   Serial.begin(115200); //UART0 for programming and debugging
 
-  beginIdleTasks(); //Enable processor load calculations
-
   beginI2C();
 
   beginDisplay(); //Start display first to be able to display any errors
@@ -554,6 +552,8 @@ void setup()
 
   loadSettings(); //Attempt to load settings after SD is started so we can read the settings file if available
 
+  beginIdleTasks(); //Enable processor load calculations
+
   beginUART2(); //Start UART2 on core 0, used to receive serial from ZED and pass out over SPP
 
   beginFuelGauge(); //Configure battery fuel guage monitor

From ba5fa4033efd46dae7ff1e0014c629909905bb0d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 11:15:42 -0600
Subject: [PATCH 040/134] Add stop if NTRIP Server is disabled. Separate
 Bluetooth start/stop from WiFi and ntripServer.

---
 Firmware/RTK_Surveyor/NtripServer.ino | 62 ++++++++++-----------------
 Firmware/RTK_Surveyor/States.ino      |  6 ++-
 Firmware/RTK_Surveyor/WiFi.ino        |  4 +-
 3 files changed, 29 insertions(+), 43 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 10def7dae..588f91be2 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -1,6 +1,6 @@
 /*=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
   NTRIP Server States:
-    NTRIP_SERVER_OFF: Using Bluetooth or NTRIP server
+    NTRIP_SERVER_OFF: WiFi OFF or using NTRIP Client
     NTRIP_SERVER_ON: WIFI_ON state
     NTRIP_SERVER_WIFI_CONNECTING: Connecting to WiFi access point
     NTRIP_SERVER_WIFI_CONNECTED: WiFi connected to an access point
@@ -80,12 +80,6 @@ static uint32_t ntripServerTimer;
 // NTRIP Server Routines - compiled out
 //----------------------------------------
 
-//Determine if more connections are allowed
-void ntripServerAllowMoreConnections()
-{
-  ntripServerConnectionAttempts = 0;
-}
-
 //Initiate a connection to the NTRIP caster
 bool ntripServerConnectCaster()
 {
@@ -122,18 +116,20 @@ bool ntripServerConnectCaster()
 bool ntripServerConnectLimitReached()
 {
   //Shutdown the NTRIP server
-  ntripServerStop(false);
+  ntripServerStop(false); //Allocate new wifiClient
 
   //Retry the connection a few times
-  bool limitReached = (ntripServerConnectionAttempts++ >= MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS);
+  bool limitReached = false;
+  if (ntripServerConnectionAttempts++ >= MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS) limitReached = true;
+
   if (!limitReached)
     //Display the heap state
     reportHeapNow();
   else
   {
-    //No more connection attempts, switching to Bluetooth
+    //No more connection attempts
     Serial.println("NTRIP Server connection attempts exceeded!");
-    ntripServerSwitchToBluetooth();
+    ntripServerStop(true);  //Don't allocate new wifiClient
   }
   return limitReached;
 }
@@ -308,19 +304,6 @@ void ntripServerSetState(byte newState)
       break;
   }
 }
-
-//Switch to Bluetooth operation
-void ntripServerSwitchToBluetooth()
-{
-  Serial.println("NTRIP Server failure, switching to Bluetooth!");
-
-  //Stop WiFi operations
-  ntripServerStop(true);
-
-  //Turn on Bluetooth with 'Rover' name
-  bluetoothStart();
-}
-
 #endif  // COMPILE_WIFI
 
 //----------------------------------------
@@ -370,7 +353,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
 
     //Pass this message to the RTCM checker
     bool passAlongIncomingByte = true;
-    
+
     //Check this byte with RTCM checker if enabled
     if (settings.enableNtripServerMessageParsing == true)
       passAlongIncomingByte &= ntripServerRtcmMessage(incoming);
@@ -400,7 +383,7 @@ void ntripServerStart()
 {
 #ifdef  COMPILE_WIFI
   //Stop NTRIP server and WiFi
-  ntripServerStop(true);
+  ntripServerStop(true); //Don't allocate new wifiClient
 
   //Start the NTRIP server if enabled
   if ((settings.ntripServer_StartAtSurveyIn == true)
@@ -408,7 +391,6 @@ void ntripServerStart()
   {
     //Display the heap state
     reportHeapNow();
-    Serial.println("NTRIP Server start");
 
     //Allocate the ntripServer structure
     ntripServer = new WiFiClient();
@@ -418,14 +400,12 @@ void ntripServerStart()
       ntripServerSetState(NTRIP_SERVER_ON);
   }
 
-  //Only fallback to Bluetooth once, then try WiFi again.  This enables changes
-  //to the WiFi SSID and password to properly restart the WiFi.
-  ntripServerAllowMoreConnections();
+  ntripServerConnectionAttempts = 0;
 #endif  //COMPILE_WIFI
 }
 
 //Stop the NTRIP server
-void ntripServerStop(bool done)
+void ntripServerStop(bool wifiClientAllocated)
 {
 #ifdef  COMPILE_WIFI
   if (ntripServer)
@@ -439,7 +419,7 @@ void ntripServerStop(bool done)
     ntripServer = NULL;
 
     //Allocate the NTRIP server structure if not done
-    if (!done)
+    if (wifiClientAllocated == false)
       ntripServer = new WiFiClient();
   }
 
@@ -448,7 +428,7 @@ void ntripServerStop(bool done)
     wifiStop();
 
   //Determine the next NTRIP server state
-  ntripServerSetState((ntripServer && (!done)) ? NTRIP_SERVER_ON : NTRIP_SERVER_OFF);
+  ntripServerSetState((ntripServer && (wifiClientAllocated == false)) ? NTRIP_SERVER_ON : NTRIP_SERVER_OFF);
   online.ntripServer = false;
 #endif  //COMPILE_WIFI
 }
@@ -464,10 +444,13 @@ void ntripServerUpdate()
     ntripServerStateLastDisplayed = millis();
   }
 
+  //If user turns off NTRIP Server via settings, stop server
+  if (settings.enableNtripServer == false)
+    ntripServerStop(true);  //Don't allocate new wifiClient
+
   //Enable WiFi and the NTRIP server if requested
   switch (ntripServerState)
   {
-    //Bluetooth enabled
     case NTRIP_SERVER_OFF:
       break;
 
@@ -485,8 +468,10 @@ void ntripServerUpdate()
         {
           //Assume AP weak signal, the AP is unable to respond successfully
           if (ntripServerConnectLimitReached())
+          {
             //Display the WiFi failure
             paintNtripWiFiFail(4000, false);
+          }
         }
       }
       else
@@ -560,8 +545,7 @@ void ntripServerUpdate()
           //Look for '401 Unauthorized'
           Serial.printf("NTRIP Server caster responded with bad news: %s. Are you sure your caster credentials are correct?\n\r", response);
 
-          //Switch to Bluetooth operation
-          ntripServerSwitchToBluetooth();
+          ntripServerStop(true);  //Don't allocate new wifiClient
         }
         else
         {
@@ -575,7 +559,7 @@ void ntripServerUpdate()
 
           //We don't use a task because we use I2C hardware (and don't have a semphore).
           online.ntripServer = true;
-          ntripServerAllowMoreConnections();
+          ntripServerConnectionAttempts = 0;
           ntripServerSetState(NTRIP_SERVER_CASTING);
         }
       }
@@ -588,13 +572,13 @@ void ntripServerUpdate()
       {
         //Broken connection, retry the NTRIP server connection
         Serial.println("NTRIP Server connection dropped");
-        ntripServerStop(false);
+        ntripServerStop(false); //Allocate new wifiClient
       }
       else if ((millis() - ntripServerTimer) > 1000)
       {
         //GNSS stopped sending RTCM correction data
         Serial.println("NTRIP Server breaking caster connection due to lack of RTCM data!");
-        ntripServerStop(false);
+        ntripServerStop(false); //Allocate new wifiClient
       }
       else
         cyclePositionLEDs();
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index f96d9e3c6..0b6338b0d 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -236,9 +236,11 @@ void updateSystemState()
 
           displayBaseStart(0); //Show 'Base'
 
-          //Stop all WiFi and BT. Re-enable in each specific base start state.
-          wifiStop();
+          wifiStop(); //Stop WiFi. Re-enable in each specific base start state.
+
           bluetoothStop();
+          bluetoothStart(); //Restart Bluetooth with 'Base' identifier
+          
           startUART2Tasks(); //Start monitoring the UART1 from ZED for NMEA and UBX data (enables logging)
 
           if (configureUbloxModuleBase() == true)
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 7d6d99249..f0520efed 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -14,9 +14,9 @@
 
   WiFi Station States:
 
-                                  WIFI_OFF (Using Bluetooth)
+                                  WIFI_OFF
                                     |   ^
-                           Use WiFi |   | Use Bluetooth
+                           Use WiFi |   | 
                                     |   | WL_CONNECT_FAILED (Bad password)
                                     |   | WL_NO_SSID_AVAIL (Out of range)
                                     v   |

From 900eb53c30b477ce13aead18202456f7f841f06d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 11:15:53 -0600
Subject: [PATCH 041/134] Turn off menu print if ESP Now not compiled

---
 Firmware/RTK_Surveyor/menuMain.ino | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index c80008dd2..9d8b83bbb 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -53,7 +53,9 @@ void menuMain()
 
     Serial.println("p) Configure Profiles");
 
+#ifdef COMPILE_ESPNOW
     Serial.println("r) Configure Radios");
+#endif
 
     if (online.lband == true)
       Serial.println("P) Configure PointPerfect");

From 1347cfbb130b1b5b84ba2e938d29e6343171757d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 15:13:45 -0600
Subject: [PATCH 042/134] ESP Now working. Fix Radio icons.

Added support for ESP Now
Add WiFi RSSI to WiFi icon
Add ESP Now RSSI to ESP Now Icon
Add Up/Down arrow indication of RTCM to WiFi, BT, and ESP Now
---
 Firmware/RTK_Surveyor/Base.ino         |  15 +-
 Firmware/RTK_Surveyor/Bluetooth.ino    |   2 +-
 Firmware/RTK_Surveyor/Display.ino      | 667 +++++++++++++++++--------
 Firmware/RTK_Surveyor/ESPNOW.ino       |  22 +-
 Firmware/RTK_Surveyor/NtripClient.ino  |   4 +-
 Firmware/RTK_Surveyor/NtripServer.ino  |   4 +-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  21 +-
 Firmware/RTK_Surveyor/Tasks.ino        |  10 +-
 Firmware/RTK_Surveyor/WiFi.ino         |   6 +-
 Firmware/RTK_Surveyor/icons.h          |  14 +-
 Firmware/RTK_Surveyor/settings.h       |   2 -
 Graphics/WiFi Symbol-0.bmp             | Bin 0 -> 190 bytes
 Graphics/WiFi Symbol-1.bmp             | Bin 0 -> 190 bytes
 Graphics/WiFi Symbol-2.bmp             | Bin 0 -> 190 bytes
 Graphics/WiFi Symbol-3.bmp             | Bin 0 -> 190 bytes
 Graphics/icon.h                        |   6 +-
 16 files changed, 524 insertions(+), 249 deletions(-)
 create mode 100644 Graphics/WiFi Symbol-0.bmp
 create mode 100644 Graphics/WiFi Symbol-1.bmp
 create mode 100644 Graphics/WiFi Symbol-2.bmp
 create mode 100644 Graphics/WiFi Symbol-3.bmp

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index 2e394d9fe..c39615874 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -230,19 +230,6 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
   ntripServerProcessRTCM(incoming);
 
 #ifdef COMPILE_ESPNOW
-  if (espnowState == ESPNOW_PAIRED)
-  {
-    //Move this byte into ESP NOW to send buffer
-    espnowOutgoing[espnowOutgoingSpot++] = incoming;
-    espnowLastAdd = millis();
-
-    if (espnowOutgoingSpot == sizeof(espnowOutgoing))
-    {
-      espnowOutgoingSpot = 0; //Wrap
-      esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
-      delay(10); //We need a small delay between sending multiple packets
-      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
-    }
-  }
+  espnowProcessRTCM(incoming);
 #endif
 }
diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index ad4d2731e..07d6659df 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -183,7 +183,7 @@ void bluetoothStop()
     reportHeapNow();
   }
 #endif  //COMPILE_BT
-  online.rxRtcmCorrectionData = false;
+  bluetoothIncomingRTCM = false;
 }
 
 //Write data to the Bluetooth device
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 850805e8f..e23a7ba48 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -8,44 +8,56 @@
 //The radio area (top left corner of display) has three spots for icons
 //Left/Center/Right
 //Left Radio spot
-#define ICON_WIFI_SYMBOL_LEFT            (1<<0) //  0,  0
-#define ICON_BT_SYMBOL_LEFT              (1<<1) //  4,  0
-#define ICON_MAC_ADDRESS                 (1<<2) //  0,  3
-#define ICON_ESPNOW_SYMBOL_LEFT          (1<<3) //  TODO 0,  3
+#define ICON_WIFI_SYMBOL_0_LEFT          (1<<0) //  0,  0
+#define ICON_WIFI_SYMBOL_1_LEFT          (1<<1) //  0,  0
+#define ICON_WIFI_SYMBOL_2_LEFT          (1<<2) //  0,  0
+#define ICON_WIFI_SYMBOL_3_LEFT          (1<<3) //  0,  0
+#define ICON_BT_SYMBOL_LEFT              (1<<4) //  0,  0
+#define ICON_MAC_ADDRESS                 (1<<5) //  0,  3
+#define ICON_ESPNOW_SYMBOL_0_LEFT        (1<<6) //  0,  0
+#define ICON_ESPNOW_SYMBOL_1_LEFT        (1<<7) //  0,  0
+#define ICON_ESPNOW_SYMBOL_2_LEFT        (1<<8) //  0,  0
+#define ICON_ESPNOW_SYMBOL_3_LEFT        (1<<9) //  0,  0
+#define ICON_DOWN_ARROW_LEFT             (1<<10) //  0,  0
+#define ICON_UP_ARROW_LEFT               (1<<11) //  0,  0
+#define ICON_BLANK_LEFT                  (1<<12) //  0,  0
 
 //Center Radio spot
-#define ICON_MAC_ADDRESS_2DIGIT          (1<<4) //  TODO 0,  3
-#define ICON_BT_SYMBOL_CENTER            (1<<5) //  TODO 4,  0
-#define ICON_WIFI_SYMBOL_CENTER          (1<<6) // TODO 0,  0
+#define ICON_MAC_ADDRESS_2DIGIT          (1<<13) //  13,  3
+#define ICON_BT_SYMBOL_CENTER            (1<<14) //  10,  0
+#define ICON_DOWN_ARROW_CENTER           (1<<15) //  0,  0
+#define ICON_UP_ARROW_CENTER             (1<<16) //  0,  0
 
 //Right Radio Spot
-#define ICON_WIFI_SYMBOL_RIGHT           (1<<7) // center, 0
-#define ICON_BASE_TEMPORARY              (1<<8) // 27,  0
-#define ICON_BASE_FIXED                  (1<<9) // 27,  0
-#define ICON_ROVER_FUSION                (1<<10) // 27,  2
-#define ICON_ROVER_FUSION_EMPTY          (1<<11) // 27,  2
-#define ICON_DYNAMIC_MODEL               (1<<12) // 27,  0
-
-#define ICON_DOWN_ARROW                  (1<<13) // 16,  0
-#define ICON_UP_ARROW                    (1<<14) // 16,  0
+#define ICON_WIFI_SYMBOL_0_RIGHT         (1<<17) // center, 0
+#define ICON_WIFI_SYMBOL_1_RIGHT         (1<<18) // center, 0
+#define ICON_WIFI_SYMBOL_2_RIGHT         (1<<19) // center, 0
+#define ICON_WIFI_SYMBOL_3_RIGHT         (1<<20) // center, 0
+#define ICON_BASE_TEMPORARY              (1<<21) // center,  0
+#define ICON_BASE_FIXED                  (1<<22) // center,  0
+#define ICON_ROVER_FUSION                (1<<23) // center,  2
+#define ICON_ROVER_FUSION_EMPTY          (1<<24) // center,  2
+#define ICON_DYNAMIC_MODEL               (1<<25) // 27,  0
+#define ICON_DOWN_ARROW_RIGHT            (1<<26) // center,  0
+#define ICON_UP_ARROW_RIGHT              (1<<27) // center,  0
+#define ICON_BLANK_RIGHT                 (1<<28) // center,  0
 
 //Right top
-#define ICON_BATTERY                     (1<<15) // 45,  0
+#define ICON_BATTERY                     (1<<0) // 45,  0
 
 //Left center
-#define ICON_CROSS_HAIR                  (1<<16) //  0, 18
-#define ICON_CROSS_HAIR_DUAL             (1<<17) //  0, 18
+#define ICON_CROSS_HAIR                  (1<<1) //  0, 18
+#define ICON_CROSS_HAIR_DUAL             (1<<2) //  0, 18
 
 //Right center
-#define ICON_HORIZONTAL_ACCURACY         (1<<18) // 16, 20
+#define ICON_HORIZONTAL_ACCURACY         (1<<3) // 16, 20
 
 //Left bottom
-#define ICON_SIV_ANTENNA                 (1<<19) //  2, 35
-#define ICON_SIV_ANTENNA_LBAND           (1<<20) //  2, 35
+#define ICON_SIV_ANTENNA                 (1<<4) //  2, 35
+#define ICON_SIV_ANTENNA_LBAND           (1<<5) //  2, 35
 
 //Right bottom
-#define ICON_LOGGING                     (1<<21) // right, bottom
-
+#define ICON_LOGGING                     (1<<6) // right, bottom
 
 //----------------------------------------
 // Locals
@@ -54,6 +66,7 @@
 static QwiicMicroOLED oled;
 static uint32_t blinking_icons;
 static uint32_t icons;
+static uint32_t iconsRadio;
 
 // Fonts
 #include <res/qw_fnt_5x7.h>
@@ -171,49 +184,45 @@ void updateDisplay()
         */
 
         case (STATE_ROVER_NOT_STARTED):
-          icons = paintRadioIcons() //Top left
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_NO_FIX):
-          icons = paintRadioIcons() //Top left
-                  | ICON_DYNAMIC_MODEL  //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_FIX):
-          icons = paintRadioIcons() //Top left
-                  | ICON_DYNAMIC_MODEL  //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR     //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_RTK_FLOAT):
           blinking_icons ^= ICON_CROSS_HAIR_DUAL;
-          icons = paintRadioIcons() //Top left
-                  | ICON_DYNAMIC_MODEL  //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | (blinking_icons & ICON_CROSS_HAIR_DUAL)  //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_RTK_FIX):
-          icons = paintRadioIcons() //Top left
-                  | ICON_DYNAMIC_MODEL  //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_CROSS_HAIR_DUAL//Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
 
         case (STATE_BASE_NOT_STARTED):
@@ -224,38 +233,34 @@ void updateDisplay()
         //Screen is displayed while we are waiting for horz accuracy to drop to appropriate level
         //Blink crosshair icon until we have we have horz accuracy < user defined level
         case (STATE_BASE_TEMP_SETTLE):
-          blinking_icons ^= ICON_BASE_TEMPORARY | ICON_CROSS_HAIR;
-          icons = paintRadioIcons() //Top left
-                  | ICON_BATTERY        //Top right
+          blinking_icons ^= ICON_CROSS_HAIR;
+          icons =   ICON_BATTERY        //Top right
                   | (blinking_icons & ICON_CROSS_HAIR)  //Center left
                   | ICON_HORIZONTAL_ACCURACY //Center right
                   | paintSIV()          //Bottom left
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_BASE_TEMP_SURVEY_STARTED):
-          blinking_icons ^= ICON_BASE_TEMPORARY;
-          icons = paintRadioIcons() //Top left
-                  | (blinking_icons & ICON_BASE_TEMPORARY)  //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           paintBaseTempSurveyStarted();
           break;
         case (STATE_BASE_TEMP_TRANSMITTING):
-          icons = paintRadioIcons() //Top left
-                  | ICON_BASE_TEMPORARY //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           paintRTCM();
           break;
         case (STATE_BASE_FIXED_NOT_STARTED):
-          icons = paintRadioIcons() //Top left
-                  | ICON_BATTERY;       //Top right
+          icons =   ICON_BATTERY;       //Top right
+          iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_BASE_FIXED_TRANSMITTING):
-          icons = paintRadioIcons() //Top left
-                  | ICON_BASE_FIXED     //Top center
-                  | ICON_BATTERY        //Top right
+          icons =   ICON_BATTERY        //Top right
                   | ICON_LOGGING;       //Bottom right
+          iconsRadio = setRadioIcons(); //Top left
           paintRTCM();
           break;
         case (STATE_BUBBLE_LEVEL):
@@ -274,6 +279,7 @@ void updateDisplay()
           displayWiFiConfigNotStarted(); //Display 'WiFi Config'
           break;
         case (STATE_WIFI_CONFIG):
+          //TODO Remove radio icons from displayWiFi config
           icons = displayWiFiConfig(); //Display SSID and IP
           break;
         case (STATE_TEST):
@@ -290,11 +296,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_WIFI_STARTED):
-          icons = paintRadioIcons();  //Top left
+          iconsRadio = setRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_CONNECTED):
-          icons = paintRadioIcons();  //Top left
+          iconsRadio = setRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_TIMEOUT):
@@ -313,11 +319,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_PROVISION_WIFI_STARTED):
-          icons = paintRadioIcons();  //Top left
+          iconsRadio = setRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_CONNECTED):
-          icons = paintRadioIcons();  //Top left
+          iconsRadio = setRadioIcons();  //Top left
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
@@ -333,40 +339,16 @@ void updateDisplay()
           break;
       }
 
-      //Top left corner
-      //This is not as if/else if. A variety of symbols may be mixed/matched
-      if (icons & ICON_WIFI_SYMBOL_LEFT)
-      {
-        displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol);
-        if (icons & ICON_DOWN_ARROW)
-        {
-          displayBitmap(16, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
-          online.rxRtcmCorrectionData = false;
-        }
-        else if (icons & ICON_UP_ARROW)
-          displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
-      }
-      if (icons & ICON_WIFI_SYMBOL_RIGHT)
-      {
-        displayBitmap(0, 10, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol);
-        //        if (icons & ICON_DOWN_ARROW)
-        //        {
-        //          displayBitmap(16, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
-        //          online.rxRtcmCorrectionData = false;
-        //        }
-        //        else if (icons & ICON_UP_ARROW)
-        //          displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
-      }
-      if (icons & ICON_BT_SYMBOL_LEFT)
-      {
-        displayBitmap(4, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
-      }
-      if (icons & ICON_BT_SYMBOL_CENTER)
-      {
-        //Moved to center to give space for ESP NOW icon on far left
-        displayBitmap(10, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
-      }
-      if (icons & ICON_MAC_ADDRESS)
+      //Top left corner - Radio icon indicators take three spots (left/center/right)
+      //Allowed icon combinations:
+      //Bluetooth + Rover/Base
+      //WiFi + Bluetooth + Rover/Base
+      //ESP-Now + Bluetooth + Rover/Base
+      //ESP-Now + Bluetooth + WiFi
+      //See setRadioIcons() for the icon selection logic
+
+      //Left spot
+      if (iconsRadio & ICON_MAC_ADDRESS)
       {
         char macAddress[5];
 #ifdef COMPILE_BT
@@ -378,7 +360,40 @@ void updateDisplay()
         oled.setCursor(0, 3);
         oled.print(macAddress);
       }
-      if (icons & ICON_MAC_ADDRESS_2DIGIT)
+      else if (iconsRadio & ICON_BT_SYMBOL_LEFT)
+        displayBitmap(1, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_0_LEFT)
+        displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_0);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_1_LEFT)
+        displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_1);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_2_LEFT)
+        displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_2);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_3_LEFT)
+        displayBitmap(0, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_3);
+      else if (iconsRadio & ICON_ESPNOW_SYMBOL_0_LEFT)
+        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
+      else if (iconsRadio & ICON_ESPNOW_SYMBOL_1_LEFT)
+        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
+      else if (iconsRadio & ICON_ESPNOW_SYMBOL_2_LEFT)
+        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
+      else if (iconsRadio & ICON_ESPNOW_SYMBOL_3_LEFT)
+        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
+      else if (iconsRadio & ICON_DOWN_ARROW_LEFT)
+        displayBitmap(1, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
+      else if (iconsRadio & ICON_UP_ARROW_LEFT)
+        displayBitmap(1, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
+      else if (iconsRadio & ICON_BLANK_LEFT)
+      {
+        ;
+      }
+
+      //Center radio spots
+      if (iconsRadio & ICON_BT_SYMBOL_CENTER)
+      {
+        //Moved to center to give space for ESP NOW icon on far left
+        displayBitmap(16, 0, BT_Symbol_Width, BT_Symbol_Height, BT_Symbol);
+      }
+      else if (iconsRadio & ICON_MAC_ADDRESS_2DIGIT)
       {
         char macAddress[5];
         //Print only last two digits of MAC
@@ -388,21 +403,37 @@ void updateDisplay()
         sprintf(macAddress, "%02X", 0); //If BT is not available, print zeroes
 #endif
         oled.setFont(QW_FONT_5X7); //Set font to smallest
-        oled.setCursor(13, 3);
+        oled.setCursor(14, 3);
         oled.print(macAddress);
       }
-      if (icons & ICON_ESPNOW_SYMBOL_LEFT)
-        displayBitmap(0, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
-
-      //Top center
-      if (icons & ICON_WIFI_SYMBOL_CENTER)
-        displayBitmap((oled.getWidth() / 2) - (WiFi_Symbol_Width / 2), 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol);
-      else if ((icons & ICON_DYNAMIC_MODEL) && (online.gnss == true))
+      else if (iconsRadio & ICON_DOWN_ARROW_CENTER)
+        displayBitmap(16, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
+      else if (iconsRadio & ICON_UP_ARROW_CENTER)
+        displayBitmap(16, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
+
+      //Radio third spot
+      if (iconsRadio & ICON_WIFI_SYMBOL_0_RIGHT)
+        displayBitmap(28, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_0);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_1_RIGHT)
+        displayBitmap(28, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_1);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_2_RIGHT)
+        displayBitmap(28, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_2);
+      else if (iconsRadio & ICON_WIFI_SYMBOL_3_RIGHT)
+        displayBitmap(28, 0, WiFi_Symbol_Width, WiFi_Symbol_Height, WiFi_Symbol_3);
+      else if ((iconsRadio & ICON_DYNAMIC_MODEL) && (online.gnss == true))
         paintDynamicModel();
-      else if (icons & ICON_BASE_TEMPORARY)
-        displayBitmap(27, 0, BaseTemporary_Width, BaseTemporary_Height, BaseTemporary);
-      else if (icons & ICON_BASE_FIXED)
-        displayBitmap(27, 0, BaseFixed_Width, BaseFixed_Height, BaseFixed); //true - blend with other pixels
+      else if (iconsRadio & ICON_BASE_TEMPORARY)
+        displayBitmap(28, 0, BaseTemporary_Width, BaseTemporary_Height, BaseTemporary);
+      else if (iconsRadio & ICON_BASE_FIXED)
+        displayBitmap(28, 0, BaseFixed_Width, BaseFixed_Height, BaseFixed); //true - blend with other pixels
+      else if (iconsRadio & ICON_DOWN_ARROW_RIGHT)
+        displayBitmap(31, 0, DownloadArrow_Width, DownloadArrow_Height, DownloadArrow);
+      else if (iconsRadio & ICON_UP_ARROW_RIGHT)
+        displayBitmap(31, 0, UploadArrow_Width, UploadArrow_Height, UploadArrow);
+      else if (iconsRadio & ICON_BLANK_RIGHT)
+      {
+        ;
+      }
 
       //Top right corner
       if (icons & ICON_BATTERY)
@@ -605,18 +636,21 @@ void paintBatteryLevel()
    8|      *            **
 */
 
-//Display Bluetooth, WiFi, ESP Now, and Mode indicators (Mac, Blinking, Arrows, etc) depending on connection state
-uint32_t paintRadioIcons()
+//Set bits to turn on various icons in the Radio area
+//ie: Bluetooth, WiFi, ESP Now, Mode indicators, as well as sub states of each (MAC, Blinking, Arrows, etc), depending on connection state
+//This function has all the logic to determine how a shared icon spot should act. ie: if we need an up arrow, blink the ESP Now icon, etc.
+//This function merely sets the bits to what should be displayed. The main updateDisplay() function pushes bits to screen.
+uint32_t setRadioIcons()
 {
   uint32_t icons = 0;
 
   if (online.display == true)
   {
     //There are three spots for icons in the Wireless area, left/center/right
-    //Center is normally used to indicate base/rover status.
     //There are three radios that could be active: Bluetooth (always indicated), WiFi (if enabled), ESP-Now (if enabled)
     //Because of lack of space we will indicate the Base/Rover if only two radios or less are active
 
+    //Count the number of radios in use
     uint8_t numberOfRadios = 1; //Bluetooth always indicated
     if (wifiState > WIFI_OFF) numberOfRadios++;
     if (espnowState > ESPNOW_OFF) numberOfRadios++;
@@ -624,34 +658,34 @@ uint32_t paintRadioIcons()
     //Bluetooth only
     if (numberOfRadios == 1)
     {
-      icons |= paintBluetoothIcon_OneRadio();
+      icons |= setBluetoothIcon_OneRadio();
 
-      icons |= paintModeIcon(); //Turn on Rover/Base type icons
+      icons |= setModeIcon(); //Turn on Rover/Base type icons
     }
 
     else if (numberOfRadios == 2)
     {
-      icons |= paintBluetoothIcon_TwoRadios();
+      icons |= setBluetoothIcon_TwoRadios();
 
       //Do we have WiFi or ESP
       if (wifiState > WIFI_OFF)
-        icons |= paintWiFiIcon_TwoRadios();
+        icons |= setWiFiIcon_TwoRadios();
       else if (espnowState > ESPNOW_OFF)
-        icons |= paintESPNowIcon_TwoRadios();
+        icons |= setESPNowIcon_TwoRadios();
 
-      icons |= paintModeIcon(); //Turn on Rover/Base type icons
+      icons |= setModeIcon(); //Turn on Rover/Base type icons
     }
 
     else if (numberOfRadios == 3)
     {
       //Bluetooth is center
-      icons |= paintBluetoothIcon_TwoRadios();
+      icons |= setBluetoothIcon_TwoRadios();
 
       //ESP Now is left
-      icons |= paintESPNowIcon_TwoRadios();
+      icons |= setESPNowIcon_TwoRadios();
 
       //WiFi is right
-      icons |= paintWiFiIcon_ThreeRadios();
+      icons |= setWiFiIcon_ThreeRadios();
 
       //No Rover/Base icons
     }
@@ -661,135 +695,334 @@ uint32_t paintRadioIcons()
 }
 
 //Bluetooth is in left position
-//Paint Bluetooth icons (MAC, Connected, arrows) in left position
-uint32_t paintBluetoothIcon_OneRadio()
+//Set Bluetooth icons (MAC, Connected, arrows) in left position
+uint32_t setBluetoothIcon_OneRadio()
 {
   uint32_t icons = 0;
 
-  //Covers spots Left and Center
   if (bluetoothGetState() != BT_CONNECTED)
     icons |= ICON_MAC_ADDRESS;
   else if (bluetoothGetState() == BT_CONNECTED)
-    icons |= ICON_BT_SYMBOL_LEFT;
+  {
+    //Limit how often we update this spot
+    if (millis() - firstRadioSpotTimer > 2000)
+    {
+      firstRadioSpotTimer = millis();
+
+      if (bluetoothIncomingRTCM == true || bluetoothOutgoingRTCM == true)
+        firstRadioSpotBlink ^= 1; //Share the spot
+      else
+        firstRadioSpotBlink = false;
+    }
+
+    if (firstRadioSpotBlink == false)
+      icons |= ICON_BT_SYMBOL_LEFT;
+    else
+    {
+      //Share the spot. Determine if we need to indicate Up, or Down
+      if (bluetoothIncomingRTCM == true)
+      {
+        icons |= ICON_DOWN_ARROW_LEFT;
+        bluetoothIncomingRTCM = false; //Reset, set during UART RX task.
+      }
+      else if (bluetoothOutgoingRTCM == true)
+      {
+        icons |= ICON_UP_ARROW_LEFT;
+        bluetoothOutgoingRTCM = false; //Reset, set during UART BT send bytes task.
+      }
+      else
+        icons |= ICON_BT_SYMBOL_LEFT;
+    }
+  }
 
   return icons;
 }
 
 //Bluetooth is in center position
-//Paint Bluetooth icons (MAC, Connected, arrows) in left position
-uint32_t paintBluetoothIcon_TwoRadios()
+//Set Bluetooth icons (MAC, Connected, arrows) in left position
+uint32_t setBluetoothIcon_TwoRadios()
 {
   uint32_t icons = 0;
 
   if (bluetoothGetState() != BT_CONNECTED)
     icons |= ICON_MAC_ADDRESS_2DIGIT;
   else if (bluetoothGetState() == BT_CONNECTED)
-    icons |= ICON_BT_SYMBOL_CENTER;
+  {
+    //Limit how often we update this spot
+    if (millis() - secondRadioSpotTimer > 2000)
+    {
+      secondRadioSpotTimer = millis();
+
+      if (bluetoothIncomingRTCM == true || bluetoothOutgoingRTCM == true)
+        secondRadioSpotBlink ^= 1; //Share the spot
+      else
+        secondRadioSpotBlink = false;
+    }
+
+    if (secondRadioSpotBlink == false)
+      icons |= ICON_BT_SYMBOL_CENTER;
+    else
+    {
+      //Share the spot. Determine if we need to indicate Up, or Down
+      if (bluetoothIncomingRTCM == true)
+      {
+        icons |= ICON_DOWN_ARROW_CENTER;
+        bluetoothIncomingRTCM = false; //Reset, set during UART RX task.
+      }
+      else if (bluetoothOutgoingRTCM == true)
+      {
+        icons |= ICON_UP_ARROW_CENTER;
+        bluetoothOutgoingRTCM = false; //Reset, set during UART BT send bytes task.
+      }
+      else
+        icons |= ICON_BT_SYMBOL_CENTER;
+    }
+  }
 
   return icons;
 }
 
 //Bluetooth is in center position
-//Paint ESP Now icon (Solid, arrows, blinking) in left position
-uint32_t paintESPNowIcon_TwoRadios()
+//Set ESP Now icon (Solid, arrows, blinking) in left position
+uint32_t setESPNowIcon_TwoRadios()
 {
   uint32_t icons = 0;
 
 #ifdef COMPILE_ESPNOW
 
-  //If ESPNOW is paired, and we are in base mode, show animated icon
-  if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
-    icons |= ICON_ESPNOW_SYMBOL_LEFT;
-
-  //If ESPNOW is on, and we've received a packet, move BT to make room
-  else if (espnowRSSI > -255)
-    icons |= ICON_ESPNOW_SYMBOL_LEFT;
-
-
-  //Determine if we transitting or receiving
-  //  if (millis() - espnowLastAdd < 1000)
-  //  {
-  //    //We are actively sending out bytes, animate the icon
-  //    //Animate icon to show data is being transmitted
-  //    espnowIconDisplayed++; //Goto next icon
-  //    espnowIconDisplayed %= 4; //Wrap
-  //
-  //    if (espnowIconDisplayed == 0)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
-  //    else if (espnowIconDisplayed == 1)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
-  //    else if (espnowIconDisplayed == 2)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
-  //    else if (espnowIconDisplayed == 3)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
-  //  }
-  //  else
-  //  {
-  //    //We are receiving data, adjust icon according to RSSI
-  //    if (espnowRSSI >= -40)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_3);
-  //    else if (espnowRSSI >= -60)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_2);
-  //    else if (espnowRSSI >= -80)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_1);
-  //    else if (espnowRSSI > -255)
-  //      displayBitmap(x, 0, ESPNOW_Symbol_Width, ESPNOW_Symbol_Height, ESPNOW_Symbol_0);
-  //  }
+  if (espnowState == ESPNOW_PAIRED)
+  {
+    //Limit how often we update this spot
+    if (millis() - firstRadioSpotTimer > 2000)
+    {
+      firstRadioSpotTimer = millis();
+
+      if (espnowIncomingRTCM == true || espnowOutgoingRTCM == true)
+        firstRadioSpotBlink ^= 1; //Share the spot
+      else
+        firstRadioSpotBlink = false;
+    }
+
+    if (firstRadioSpotBlink == false)
+    {
+      if (espnowIncomingRTCM == true)
+      {
+        //Based on RSSI, select icon
+        if (espnowRSSI >= -40)
+          icons |= ICON_ESPNOW_SYMBOL_3_LEFT;
+        else if (espnowRSSI >= -60)
+          icons |= ICON_ESPNOW_SYMBOL_2_LEFT;
+        else if (espnowRSSI >= -80)
+          icons |= ICON_ESPNOW_SYMBOL_1_LEFT;
+        else if (espnowRSSI > -255)
+          icons |= ICON_ESPNOW_SYMBOL_0_LEFT;
+      }
+      else //ESP radio is active, but not receiving RTCM
+      {
+        icons |= ICON_ESPNOW_SYMBOL_3_LEFT; //Full symbol
+      }
+    }
+    else
+    {
+      //Share the spot. Determine if we need to indicate Up, or Down
+      if (espnowIncomingRTCM == true)
+      {
+        icons |= ICON_DOWN_ARROW_LEFT;
+        espnowIncomingRTCM = false; //Reset, set during ESP Now data received call back
+      }
+      else if (espnowOutgoingRTCM == true)
+      {
+        icons |= ICON_UP_ARROW_LEFT;
+        espnowOutgoingRTCM = false; //Reset, set during espnowProcessRTCM()
+      }
+      else
+      {
+        icons |= ICON_ESPNOW_SYMBOL_3_LEFT; //Full symbol
+
+        //TODO catch RSSI here
+      }
+    }
+  }
+
+  else //We are not paired, blink icon
+  {
+    //Limit how often we update this spot
+    if (millis() - firstRadioSpotTimer > 2000)
+    {
+      firstRadioSpotTimer = millis();
+      firstRadioSpotBlink ^= 1; //Share the spot
+    }
+
+    if (firstRadioSpotBlink == false)
+      icons |= ICON_ESPNOW_SYMBOL_3_LEFT; //Full symbol
+    else
+      icons |= ICON_BLANK_LEFT;
+  }
 #endif //ifdef COMPILE_ESPNOW
 
   return icons;
 }
 
 //Bluetooth is in center position
-//Paint WiFi icon (Solid, arrows, blinking) in left position
-uint32_t paintWiFiIcon_TwoRadios()
+//Set WiFi icon (Solid, arrows, blinking) in left position
+uint32_t setWiFiIcon_TwoRadios()
 {
   uint32_t icons = 0;
 
-  icons |= ICON_WIFI_SYMBOL_LEFT;
-
-  //TODO Need blinking
-  //        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
-  //        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
-  //          icons |= ICON_WIFI_SYMBOL_LEFT;
-
-  //TODO Deal with arrows
-  //      if (systemState <= STATE_BASE_NOT_STARTED)
-  //      {
-  //        if (online.rxRtcmCorrectionData)
-  //          icons |= ICON_DOWN_ARROW;
-  //      }
-  //      else if (systemState <= STATE_BUBBLE_LEVEL)
-  //        icons |= ICON_UP_ARROW;
+  if (wifiState == WIFI_CONNECTED)
+  {
+    //Limit how often we update this spot
+    if (millis() - firstRadioSpotTimer > 2000)
+    {
+      firstRadioSpotTimer = millis();
+
+      if (wifiIncomingRTCM == true || wifiOutgoingRTCM == true)
+        firstRadioSpotBlink ^= 1; //Share the spot
+      else
+        firstRadioSpotBlink = false;
+    }
+
+    if (firstRadioSpotBlink == false)
+    {
+      int wifiRSSI = WiFi.RSSI();
+      //Based on RSSI, select icon
+      if (wifiRSSI >= -40)
+        icons |= ICON_WIFI_SYMBOL_3_LEFT;
+      else if (wifiRSSI >= -60)
+        icons |= ICON_WIFI_SYMBOL_2_LEFT;
+      else if (wifiRSSI >= -80)
+        icons |= ICON_WIFI_SYMBOL_1_LEFT;
+      else
+        icons |= ICON_WIFI_SYMBOL_0_LEFT;
+    }
+    else
+    {
+      //Share the spot. Determine if we need to indicate Up, or Down
+      if (wifiIncomingRTCM == true)
+      {
+        icons |= ICON_DOWN_ARROW_LEFT;
+        wifiIncomingRTCM = false; //Reset, set during NTRIP Client
+      }
+      else if (wifiOutgoingRTCM == true)
+      {
+        icons |= ICON_UP_ARROW_LEFT;
+        wifiOutgoingRTCM = false; //Reset, set during NTRIP Server
+      }
+      else
+      {
+        int wifiRSSI = WiFi.RSSI();
+        //Based on RSSI, select icon
+        if (wifiRSSI >= -40)
+          icons |= ICON_WIFI_SYMBOL_3_LEFT;
+        else if (wifiRSSI >= -60)
+          icons |= ICON_WIFI_SYMBOL_2_LEFT;
+        else if (wifiRSSI >= -80)
+          icons |= ICON_WIFI_SYMBOL_1_LEFT;
+        else
+          icons |= ICON_WIFI_SYMBOL_0_LEFT;
+      }
+    }
+  }
+
+  else //We are not paired, blink icon
+  {
+    //Limit how often we update this spot
+    if (millis() - firstRadioSpotTimer > 2000)
+    {
+      firstRadioSpotTimer = millis();
+      firstRadioSpotBlink ^= 1; //Share the spot
+    }
+
+    if (firstRadioSpotBlink == false)
+      icons |= ICON_WIFI_SYMBOL_3_LEFT; //Full symbol
+    else
+      icons |= ICON_BLANK_LEFT;
+  }
+
   return (icons);
 }
 
 //Bluetooth is in center position
-//Paint WiFi icon (Solid, arrows, blinking) in right position
-uint32_t paintWiFiIcon_ThreeRadios()
+//Set WiFi icon (Solid, arrows, blinking) in right position
+uint32_t setWiFiIcon_ThreeRadios()
 {
   uint32_t icons = 0;
 
-  icons |= ICON_WIFI_SYMBOL_RIGHT;
-
-  //TODO Need blinking
-  //        blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
-  //        if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
-  //          icons |= ICON_WIFI_SYMBOL_LEFT;
-
-  //TODO Deal with arrows
-  //      if (systemState <= STATE_BASE_NOT_STARTED)
-  //      {
-  //        if (online.rxRtcmCorrectionData)
-  //          icons |= ICON_DOWN_ARROW;
-  //      }
-  //      else if (systemState <= STATE_BUBBLE_LEVEL)
-  //        icons |= ICON_UP_ARROW;
+  if (wifiState == WIFI_CONNECTED)
+  {
+    //Limit how often we update this spot
+    if (millis() - thirdRadioSpotTimer > 2000)
+    {
+      thirdRadioSpotTimer = millis();
+
+      if (wifiIncomingRTCM == true || wifiOutgoingRTCM == true)
+        thirdRadioSpotBlink ^= 1; //Share the spot
+      else
+        thirdRadioSpotBlink = false;
+    }
+
+    if (thirdRadioSpotBlink == false)
+    {
+      int wifiRSSI = WiFi.RSSI();
+      //Based on RSSI, select icon
+      if (wifiRSSI >= -40)
+        icons |= ICON_WIFI_SYMBOL_3_RIGHT;
+      else if (wifiRSSI >= -60)
+        icons |= ICON_WIFI_SYMBOL_2_RIGHT;
+      else if (wifiRSSI >= -80)
+        icons |= ICON_WIFI_SYMBOL_1_RIGHT;
+      else
+        icons |= ICON_WIFI_SYMBOL_0_RIGHT;
+    }
+    else
+    {
+      //Share the spot. Determine if we need to indicate Up, or Down
+      if (wifiIncomingRTCM == true)
+      {
+        icons |= ICON_DOWN_ARROW_RIGHT;
+        wifiIncomingRTCM = false; //Reset, set during NTRIP Client
+      }
+      else if (wifiOutgoingRTCM == true)
+      {
+        icons |= ICON_UP_ARROW_RIGHT;
+        wifiOutgoingRTCM = false; //Reset, set during NTRIP Server
+      }
+      else
+      {
+        int wifiRSSI = WiFi.RSSI();
+        //Based on RSSI, select icon
+        if (wifiRSSI >= -40)
+          icons |= ICON_WIFI_SYMBOL_3_RIGHT;
+        else if (wifiRSSI >= -60)
+          icons |= ICON_WIFI_SYMBOL_2_RIGHT;
+        else if (wifiRSSI >= -80)
+          icons |= ICON_WIFI_SYMBOL_1_RIGHT;
+        else
+          icons |= ICON_WIFI_SYMBOL_0_RIGHT;
+      }
+    }
+  }
+
+  else //We are not paired, blink icon
+  {
+    //Limit how often we update this spot
+    if (millis() - thirdRadioSpotTimer > 2000)
+    {
+      thirdRadioSpotTimer = millis();
+      thirdRadioSpotBlink ^= 1; //Share the spot
+    }
+
+    if (thirdRadioSpotBlink == false)
+      icons |= ICON_WIFI_SYMBOL_3_RIGHT; //Full symbol
+    else
+      icons |= ICON_BLANK_RIGHT;
+  }
+
   return (icons);
 }
 
 //Based on system state, turn on the various Rover, Base, Fixed Base icons
-uint32_t paintModeIcon()
+uint32_t setModeIcon()
 {
   uint32_t icons = 0;
   switch (systemState)
@@ -912,19 +1145,19 @@ void paintDynamicModel()
   switch (settings.dynamicModel)
   {
     case (DYN_MODEL_PORTABLE):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_1_Portable);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_1_Portable);
       break;
     case (DYN_MODEL_STATIONARY):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_2_Stationary);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_2_Stationary);
       break;
     case (DYN_MODEL_PEDESTRIAN):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_3_Pedestrian);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_3_Pedestrian);
       break;
     case (DYN_MODEL_AUTOMOTIVE):
       //Normal rover for ZED-F9P, fusion rover for ZED-F9R
       if (zedModuleType == PLATFORM_F9P)
       {
-        displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_4_Automotive);
+        displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_4_Automotive);
       }
       else if (zedModuleType == PLATFORM_F9R)
       {
@@ -940,7 +1173,7 @@ void paintDynamicModel()
               baseIconDisplayed = true;
 
               //Draw the icon
-              displayBitmap(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion);
+              displayBitmap(28, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion);
             }
             else
               baseIconDisplayed = false;
@@ -949,32 +1182,32 @@ void paintDynamicModel()
         else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 1) //Calibrated
         {
           //Solid fusion rover
-          displayBitmap(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion);
+          displayBitmap(28, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion);
         }
         else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 2 || i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 3) //Suspended or disabled
         {
           //Empty rover
-          displayBitmap(27, 2, Rover_Fusion_Empty_Width, Rover_Fusion_Empty_Height, Rover_Fusion_Empty);
+          displayBitmap(28, 2, Rover_Fusion_Empty_Width, Rover_Fusion_Empty_Height, Rover_Fusion_Empty);
         }
       }
       break;
     case (DYN_MODEL_SEA):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_5_Sea);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_5_Sea);
       break;
     case (DYN_MODEL_AIRBORNE1g):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_6_Airborne1g);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_6_Airborne1g);
       break;
     case (DYN_MODEL_AIRBORNE2g):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_7_Airborne2g);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_7_Airborne2g);
       break;
     case (DYN_MODEL_AIRBORNE4g):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_8_Airborne4g);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_8_Airborne4g);
       break;
     case (DYN_MODEL_WRIST):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_9_Wrist);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_9_Wrist);
       break;
     case (DYN_MODEL_BIKE):
-      displayBitmap(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_10_Bike);
+      displayBitmap(28, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_10_Bike);
       break;
   }
 }
@@ -1183,8 +1416,9 @@ void paintRTCM()
   }
 
   //Determine if correction data has been sent recently
-  if (online.txNtripDataCasting)
+  if (bluetoothOutgoingRTCM == true || wifiOutgoingRTCM == true || espnowOutgoingRTCM == true)
     lastCorrectionDataSeen = millis();
+
   if ((millis() - lastCorrectionDataSeen) >= 5000)
   {
     //No correction data seen
@@ -1204,7 +1438,6 @@ void paintRTCM()
 
     oled.setFont(QW_FONT_8X16); //Set font to type 1: 8x16
     oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()
-    online.txNtripDataCasting = false;
   }
 
   paintResets();
@@ -1379,12 +1612,12 @@ uint32_t displayWiFiConfig()
   if (wifiState == WIFI_NOTCONNECTED)
   {
     //Blink WiFi icon
-    blinking_icons ^= ICON_WIFI_SYMBOL_LEFT;
-    if (blinking_icons & ICON_WIFI_SYMBOL_LEFT)
-      icons = ICON_WIFI_SYMBOL_CENTER;
+    blinking_icons ^= ICON_WIFI_SYMBOL_3_RIGHT;
+    if (blinking_icons & ICON_WIFI_SYMBOL_3_RIGHT)
+      icons = ICON_WIFI_SYMBOL_3_RIGHT;
   }
   else if (wifiState == WIFI_CONNECTED)
-    icons = ICON_WIFI_SYMBOL_CENTER;
+    icons = ICON_WIFI_SYMBOL_3_RIGHT;
 
   int yPos = WiFi_Symbol_Height + 2;
   int fontHeight = 8;
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 114556039..37c2e074b 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -63,7 +63,7 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
     serialGNSS.write(incomingData, len);
     log_d("ESPNOW: Received %d bytes, RSSI: %d", len, espnowRSSI);
 
-    online.rxRtcmCorrectionData = true;
+    espnowIncomingRTCM = true;
     lastEspnowRssiUpdate = millis();
   }
 }
@@ -327,4 +327,24 @@ void espnowSetState(ESPNOWState newState)
   }
 }
 
+void espnowProcessRTCM(byte incoming)
+{
+  if (espnowState == ESPNOW_PAIRED)
+  {
+    //Move this byte into ESP NOW to send buffer
+    espnowOutgoing[espnowOutgoingSpot++] = incoming;
+    espnowLastAdd = millis();
+
+    if (espnowOutgoingSpot == sizeof(espnowOutgoing))
+    {
+      espnowOutgoingSpot = 0; //Wrap
+      esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
+      delay(10); //We need a small delay between sending multiple packets
+      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
+
+      espnowOutgoingRTCM = true;
+    }
+  }
+}
+
 #endif //ifdef COMPILE_ESPNOW
diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index 92f36c65b..d1a521377 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -290,7 +290,7 @@ void ntripClientStop(bool done)
   //Determine the next NTRIP client state
   ntripClientSetState((ntripClient && (!done)) ? NTRIP_CLIENT_ON : NTRIP_CLIENT_OFF);
   online.ntripClient = false;
-  online.rxRtcmCorrectionData = false;
+  wifiIncomingRTCM = false;
 #endif  //COMPILE_WIFI
 }
 
@@ -446,7 +446,7 @@ void ntripClientUpdate()
 
           //Push RTCM to GNSS module over I2C
           i2cGNSS.pushRawData(rtcmData, rtcmCount);
-          online.rxRtcmCorrectionData = true;
+          wifiIncomingRTCM = true;
 
           log_d("NTRIP Client pushed %d RTCM bytes to ZED", rtcmCount);
         }
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 588f91be2..dfecd0013 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -365,7 +365,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
       ntripServer->write(incoming); //Send this byte to socket
       ntripServerBytesSent++;
       ntripServerTimer = millis();
-      online.txNtripDataCasting = true;
+      wifiOutgoingRTCM = true;
     }
   }
 
@@ -445,7 +445,7 @@ void ntripServerUpdate()
   }
 
   //If user turns off NTRIP Server via settings, stop server
-  if (settings.enableNtripServer == false)
+  if (settings.enableNtripServer == false && ntripServerState > NTRIP_SERVER_OFF)
     ntripServerStop(true);  //Don't allocate new wifiClient
 
   //Enable WiFi and the NTRIP server if requested
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 3cc9c4391..f2fb0a2ed 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -28,7 +28,7 @@ const int FIRMWARE_VERSION_MINOR = 4;
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_AP //Comment out to remove Access Point functionality
-//#define COMPILE_ESPNOW //Comment out to remove ESP-Now functionality
+#define COMPILE_ESPNOW //Comment out to remove ESP-Now functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
@@ -151,6 +151,8 @@ LoggingType loggingType = LOGGING_UNKNOWN;
 #include <WiFiClientSecure.h> //Built-in.
 #include <PubSubClient.h> //Built-in. Used for MQTT obtaining of keys
 
+#include "esp_wifi.h" //Needed for esp_wifi_set_protocol()
+
 #include "base64.h" //Built-in. Needed for NTRIP Client credential encoding.
 
 #endif
@@ -351,7 +353,6 @@ float lBandEBNO = 0.0; //Used on system status menu
 #ifdef COMPILE_ESPNOW
 
 #include <esp_now.h>
-#include "esp_wifi.h" //Needed for esp_wifi_set_protocol()
 
 uint8_t espnowOutgoing[250]; //ESP NOW has max of 250 characters
 unsigned long espnowLastAdd; //Tracks how long since last byte was added to the outgoing buffer
@@ -456,6 +457,20 @@ uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
 unsigned long lastWifiRSSIUpdate = 0; //Print RSSI when connected every few seconds
 
+bool firstRadioSpotBlink = false; //Controls when the shared icon space is toggled
+unsigned long firstRadioSpotTimer = 0;
+bool secondRadioSpotBlink = false; //Controls when the shared icon space is toggled
+unsigned long secondRadioSpotTimer = 0;
+bool thirdRadioSpotBlink = false; //Controls when the shared icon space is toggled
+unsigned long thirdRadioSpotTimer = 0;
+
+bool bluetoothIncomingRTCM = false;
+bool bluetoothOutgoingRTCM = false;
+bool wifiIncomingRTCM = false;
+bool wifiOutgoingRTCM = false;
+bool espnowIncomingRTCM = false;
+bool espnowOutgoingRTCM = false;
+
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*
                      +---------------------------------------+      +----------+
@@ -552,7 +567,7 @@ void setup()
 
   loadSettings(); //Attempt to load settings after SD is started so we can read the settings file if available
 
-  beginIdleTasks(); //Enable processor load calculations
+  //beginIdleTasks(); //Enable processor load calculations
 
   beginUART2(); //Start UART2 on core 0, used to receive serial from ZED and pass out over SPP
 
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 67015d3c0..6d035fa66 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -14,8 +14,10 @@ void F9PSerialWriteTask(void *e)
       {
         //Pass bytes to GNSS receiver
         int s = bluetoothReadBytes(wBuffer, sizeof(wBuffer));
+        
+        //TODO - control if this RTCM source should be listened to or not
         serialGNSS.write(wBuffer, s);
-        online.rxRtcmCorrectionData = true;
+        bluetoothIncomingRTCM = true;
 
         if (settings.enableTaskReports == true)
           Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
@@ -172,7 +174,11 @@ void F9PSerialReadTask(void *e)
           //Push new data to BT SPP if not congested or not throttling
           btBytesToSend = bluetoothWriteBytes(&rBuffer[btTail], btBytesToSend);
           if (btBytesToSend > 0)
-            online.txNtripDataCasting = true;
+          {
+            //If we are in base mode, assume part of the outgoing data is RTCM
+            if(systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+              bluetoothOutgoingRTCM = true;
+          }
           else
             log_w("BT failed to send");
         }
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index f0520efed..12a5a0ec5 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -16,7 +16,7 @@
 
                                   WIFI_OFF
                                     |   ^
-                           Use WiFi |   | 
+                           Use WiFi |   |
                                     |   | WL_CONNECT_FAILED (Bad password)
                                     |   | WL_NO_SSID_AVAIL (Out of range)
                                     v   |
@@ -219,7 +219,11 @@ void wifiStart(char* ssid, char* pw)
     {
       //Radio is off, turn it on
       WiFi.mode(WIFI_STA);
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
     }
+#else
+    //Be sure the standard protocols are turned on. ESP Now have have previously turned them off.
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
 #endif
 
     Serial.printf("Wi-Fi connecting to %s\r\n", ssid);
diff --git a/Firmware/RTK_Surveyor/icons.h b/Firmware/RTK_Surveyor/icons.h
index 85e00d67f..ddcf99727 100644
--- a/Firmware/RTK_Surveyor/icons.h
+++ b/Firmware/RTK_Surveyor/icons.h
@@ -41,10 +41,22 @@ int BT_Symbol_Width = 7;
 
 */
 
-uint8_t WiFi_Symbol [] = {
+uint8_t WiFi_Symbol_3 [] = {
   0x08, 0x04, 0x12, 0x09, 0x25, 0x95, 0xD5, 0x95, 0x25, 0x09, 0x12, 0x04, 0x08, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
+uint8_t WiFi_Symbol_2 [] = {
+  0x00, 0x00, 0x10, 0x08, 0x24, 0x94, 0xD4, 0x94, 0x24, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+uint8_t WiFi_Symbol_1 [] = {
+  0x00, 0x00, 0x00, 0x00, 0x20, 0x90, 0xD0, 0x90, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+uint8_t WiFi_Symbol_0 [] = {
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
 int WiFi_Symbol_Height = 9;
 int WiFi_Symbol_Width = 13;
 
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 44efe19e9..974435ee5 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -479,9 +479,7 @@ struct struct_online {
   bool battery = false;
   bool accelerometer = false;
   bool ntripClient = false;
-  bool rxRtcmCorrectionData = false;
   bool ntripServer = false;
-  bool txNtripDataCasting = false;
   bool lband = false;
   bool lbandCorrections = false;
   bool i2c = false;
diff --git a/Graphics/WiFi Symbol-0.bmp b/Graphics/WiFi Symbol-0.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..c4620a85a27d9ef6d5945976647b1f34b5894251
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h<Sln0EihGSb!u19N}YN0AVH|7li)<0f>Ugl0|~700Krq2o1Ip
I$|Rlw0PtG~s{jB1

literal 0
HcmV?d00001

diff --git a/Graphics/WiFi Symbol-1.bmp b/Graphics/WiFi Symbol-1.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..ad3b848e9ff98d3f938480f4df061b768435750a
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h<Sln0EihGSb!u19N}YN0AVH|7li)<0f>Ugl0|~700Krq2o1Ip
O$P|Dw;Nnne>=Xd_mI&Pd

literal 0
HcmV?d00001

diff --git a/Graphics/WiFi Symbol-2.bmp b/Graphics/WiFi Symbol-2.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..dc6494cc8a3fa5c0ccb40f6f13a22d088d88fe0b
GIT binary patch
literal 190
zcmZ?r-Nyg{c0fu4h<Sln0EihGSb!u19N}YN0AVH|7li)<0f>Ugl0|~700Krq2o1Ip
Z$P|Du1c2fYM*!Uc0)m224PYLO0004-2{8Zw

literal 0
HcmV?d00001

diff --git a/Graphics/WiFi Symbol-3.bmp b/Graphics/WiFi Symbol-3.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..d0be0258dc18cee731e71f773b992688e8a29767
GIT binary patch
literal 190
zcmbV`!4ZHk2n50Ls{>tFMIQOvvM>8Gd(eS5v)m;l1M_~YHLwc~2yok}t@kt&8%OaW
fS$BU`jX<95HIf(|f_q+sYmb0T<!aV)nfkZ@2n-3Q

literal 0
HcmV?d00001

diff --git a/Graphics/icon.h b/Graphics/icon.h
index ffc232f09..92274d4b4 100644
--- a/Graphics/icon.h
+++ b/Graphics/icon.h
@@ -3,7 +3,7 @@
 // http://en.radzio.dxp.pl/bitmap_converter/
 //------------------------------------------------------------------------------
 
-const unsigned char DownloadArrow [] = {
-0x20, 0x60, 0xC0, 0xFF, 0xFF, 0xC0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00,
-0x00, 0x00, 
+const unsigned char WiFi Symbol-0 [] = {
+0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
 };

From cdc43fe0b7dfec40cfb9da09dfd23f80c35ccaf9 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 20:23:26 -0600
Subject: [PATCH 043/134] Fix compile gates

---
 Firmware/RTK_Surveyor/Display.ino     | 70 ++++++++++++++++-----------
 Firmware/RTK_Surveyor/Form.ino        |  5 +-
 Firmware/RTK_Surveyor/NtripServer.ino |  6 +--
 Firmware/RTK_Surveyor/settings.h      |  2 +
 4 files changed, 51 insertions(+), 32 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index e23a7ba48..9391799f6 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -185,43 +185,43 @@ void updateDisplay()
 
         case (STATE_ROVER_NOT_STARTED):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_CROSS_HAIR     //Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_CROSS_HAIR     //Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_NO_FIX):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_CROSS_HAIR     //Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_CROSS_HAIR     //Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_FIX):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_CROSS_HAIR     //Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_CROSS_HAIR     //Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_RTK_FLOAT):
           blinking_icons ^= ICON_CROSS_HAIR_DUAL;
           icons =   ICON_BATTERY        //Top right
-                  | (blinking_icons & ICON_CROSS_HAIR_DUAL)  //Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | (blinking_icons & ICON_CROSS_HAIR_DUAL)  //Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_ROVER_RTK_FIX):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_CROSS_HAIR_DUAL//Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_CROSS_HAIR_DUAL//Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
 
@@ -235,21 +235,21 @@ void updateDisplay()
         case (STATE_BASE_TEMP_SETTLE):
           blinking_icons ^= ICON_CROSS_HAIR;
           icons =   ICON_BATTERY        //Top right
-                  | (blinking_icons & ICON_CROSS_HAIR)  //Center left
-                  | ICON_HORIZONTAL_ACCURACY //Center right
-                  | paintSIV()          //Bottom left
-                  | ICON_LOGGING;       //Bottom right
+                    | (blinking_icons & ICON_CROSS_HAIR)  //Center left
+                    | ICON_HORIZONTAL_ACCURACY //Center right
+                    | paintSIV()          //Bottom left
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           break;
         case (STATE_BASE_TEMP_SURVEY_STARTED):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           paintBaseTempSurveyStarted();
           break;
         case (STATE_BASE_TEMP_TRANSMITTING):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           paintRTCM();
           break;
@@ -259,7 +259,7 @@ void updateDisplay()
           break;
         case (STATE_BASE_FIXED_TRANSMITTING):
           icons =   ICON_BATTERY        //Top right
-                  | ICON_LOGGING;       //Bottom right
+                    | ICON_LOGGING;       //Bottom right
           iconsRadio = setRadioIcons(); //Top left
           paintRTCM();
           break;
@@ -884,7 +884,11 @@ uint32_t setWiFiIcon_TwoRadios()
 
     if (firstRadioSpotBlink == false)
     {
+#ifdef COMPILE_WIFI
       int wifiRSSI = WiFi.RSSI();
+#else
+      int wifiRSSI = -40; //Dummy
+#endif
       //Based on RSSI, select icon
       if (wifiRSSI >= -40)
         icons |= ICON_WIFI_SYMBOL_3_LEFT;
@@ -910,7 +914,11 @@ uint32_t setWiFiIcon_TwoRadios()
       }
       else
       {
+#ifdef COMPILE_WIFI
         int wifiRSSI = WiFi.RSSI();
+#else
+        int wifiRSSI = -40; //Dummy
+#endif
         //Based on RSSI, select icon
         if (wifiRSSI >= -40)
           icons |= ICON_WIFI_SYMBOL_3_LEFT;
@@ -963,7 +971,11 @@ uint32_t setWiFiIcon_ThreeRadios()
 
     if (thirdRadioSpotBlink == false)
     {
+#ifdef COMPILE_WIFI
       int wifiRSSI = WiFi.RSSI();
+#else
+      int wifiRSSI = -40; //Dummy
+#endif
       //Based on RSSI, select icon
       if (wifiRSSI >= -40)
         icons |= ICON_WIFI_SYMBOL_3_RIGHT;
@@ -989,7 +1001,11 @@ uint32_t setWiFiIcon_ThreeRadios()
       }
       else
       {
+#ifdef COMPILE_WIFI
         int wifiRSSI = WiFi.RSSI();
+#else
+        int wifiRSSI = -40; //Dummy
+#endif
         //Based on RSSI, select icon
         if (wifiRSSI >= -40)
           icons |= ICON_WIFI_SYMBOL_3_RIGHT;
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index 0af0aa45b..bffdd2ec0 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -139,10 +139,11 @@ void startWebServer()
   log_d("Web Server Started");
   reportHeapNow();
 
-#endif
-#endif
+#endif //COMPILE_AP
 
   wifiSetState(WIFI_NOTCONNECTED);
+#endif //COMPILE_WIFI
+
 }
 
 void stopWebServer()
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index dfecd0013..d2e405732 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -313,9 +313,6 @@ void ntripServerSetState(byte newState)
 //This function gets called as each RTCM byte comes in
 void ntripServerProcessRTCM(uint8_t incoming)
 {
-  uint32_t currentMilliseconds;
-  static uint32_t previousMilliseconds = 0;
-
   //Check for too many digits
   if (settings.enableResetDisplay == true)
   {
@@ -331,6 +328,9 @@ void ntripServerProcessRTCM(uint8_t incoming)
   }
 
 #ifdef  COMPILE_WIFI
+  uint32_t currentMilliseconds;
+  static uint32_t previousMilliseconds = 0;
+
   if (online.rtc && (ntripServerState == NTRIP_SERVER_CASTING))
   {
     //Timestamp the RTCM messages
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 974435ee5..f046ec1d5 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -485,6 +485,7 @@ struct struct_online {
   bool i2c = false;
 } online;
 
+#ifdef COMPILE_WIFI
 //AWS certificate for PointPerfect API
 static const char *AWS_PUBLIC_CERT = R"=====(
 -----BEGIN CERTIFICATE-----
@@ -508,3 +509,4 @@ o/ufQJVtMVT8QtPHRh8jrdkPSHCa2XV4cdFyQzR1bldZwgJcJmApzyMZFo6IQ6XU
 rqXRfboQnoZsG4q5WTP468SQvvG5
 -----END CERTIFICATE-----
 )=====";
+#endif

From d621185573d6e0db5adb96f2eab99895f9eafdab Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 20:57:09 -0600
Subject: [PATCH 044/134] Fix issue #274

Don't strtod if value contains non alpha/number characters.
---
 Firmware/RTK_Surveyor/NVM.ino | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index acf67ed83..6d41c6dc5 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -456,6 +456,9 @@ bool parseLine(char* str, Settings *settings)
   }
   else
   {
+    //if (strcmp(settingName, "ntripServer_CasterHost") == 0) //Debug
+    //  Serial.printf("Found problem spot raw: %s\n\r", str);
+
     //Assume the value is a string such as 8d8a48b. The leading number causes skipSpace to fail.
     //If settingValue has a mix of letters and numbers, just convert to string
     sprintf(settingValue, "%s", str);
@@ -463,15 +466,20 @@ bool parseLine(char* str, Settings *settings)
     //Check if string is mixed
     bool isNumber = false;
     bool isLetter = false;
+    bool isOther = false;
     for (int x = 0 ; x < strlen(settingValue) ; x++)
     {
-      if (isAlpha(settingValue[x])) isLetter = true;
       if (isDigit(settingValue[x])) isNumber = true;
+      else if (isAlpha(settingValue[x])) isLetter = true;
+      else isOther = true;
     }
 
-    if (isLetter && isNumber)
+    if ( (isLetter && isNumber) || isOther) //See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/274
     {
       //It's a mix. Skip strtod.
+
+      //if (strcmp(settingName, "ntripServer_CasterHost") == 0) //Debug
+      //  Serial.printf("Skipping strtod - settingValue: %s\n\r", settingValue);
     }
     else
     {
@@ -927,12 +935,12 @@ bool parseLine(char* str, Settings *settings)
         {
           uint8_t macAddress[6];
           uint8_t macByte = 0;
-          
+
           char* token = strtok(settingValue, ","); //Break string up on ,
-          while(token != NULL && macByte < sizeof(macAddress))
+          while (token != NULL && macByte < sizeof(macAddress))
           {
             settings->espnowPeers[x][macByte++] = (uint8_t)strtol(token, NULL, 16);
-            token = strtok(NULL, ",");    
+            token = strtok(NULL, ",");
           }
 
           knownSetting = true;

From dd9642b279f8afe4803c74948128e6c65c7d9bb4 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 21:38:45 -0600
Subject: [PATCH 045/134] Better scanning of variable input

---
 Firmware/RTK_Surveyor/NVM.ino | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 6d41c6dc5..a64c05cd5 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -463,18 +463,19 @@ bool parseLine(char* str, Settings *settings)
     //If settingValue has a mix of letters and numbers, just convert to string
     sprintf(settingValue, "%s", str);
 
-    //Check if string is mixed
-    bool isNumber = false;
-    bool isLetter = false;
-    bool isOther = false;
+    //Check if string is mixed: 8a011EF, 192.168.1.1, -102.4, t6-h4$, etc.
+    bool hasSymbol = false;
+    int decimalCount = 0;
     for (int x = 0 ; x < strlen(settingValue) ; x++)
     {
-      if (isDigit(settingValue[x])) isNumber = true;
-      else if (isAlpha(settingValue[x])) isLetter = true;
-      else isOther = true;
+      if (settingValue[x] == '.') decimalCount++;
+      else if (x == 0 && settingValue[x] == '-') {;} //Do nothing
+      else if (isAlpha(settingValue[x])) hasSymbol = true;
+      else if(isDigit(settingValue[x]) == false) hasSymbol = true;
     }
 
-    if ( (isLetter && isNumber) || isOther) //See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/274
+    //See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/274
+    if (hasSymbol || decimalCount > 1)
     {
       //It's a mix. Skip strtod.
 

From eb5a3aecd6f58e3da69cfe34f789220b1adfb361 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 21:39:41 -0600
Subject: [PATCH 046/134] Update NVM.ino

---
 Firmware/RTK_Surveyor/NVM.ino | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index a64c05cd5..734cc3c14 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -469,9 +469,12 @@ bool parseLine(char* str, Settings *settings)
     for (int x = 0 ; x < strlen(settingValue) ; x++)
     {
       if (settingValue[x] == '.') decimalCount++;
-      else if (x == 0 && settingValue[x] == '-') {;} //Do nothing
+      else if (x == 0 && settingValue[x] == '-')
+      {
+        ; //Do nothing
+      }
       else if (isAlpha(settingValue[x])) hasSymbol = true;
-      else if(isDigit(settingValue[x]) == false) hasSymbol = true;
+      else if (isDigit(settingValue[x]) == false) hasSymbol = true;
     }
 
     //See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/274

From 20f3b780be8d550a1ee019705b37ff29a44490df Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 10 Aug 2022 21:56:11 -0600
Subject: [PATCH 047/134] Enable station mode when starting WiFi

---
 Firmware/RTK_Surveyor/WiFi.ino | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 12a5a0ec5..5d9b465e4 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -207,20 +207,13 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
+    WiFi.mode(WIFI_STA);
+
 #ifdef COMPILE_ESPNOW
-    //If ESP-Now is active, reconfigure protocols
     if (espnowState > ESPNOW_OFF)
-    {
-      Serial.println("Mixing WiFi into ESPNOW setup");
-      //Enable WiFi + ESP-Now
-      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
-    }
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now
     else
-    {
-      //Radio is off, turn it on
-      WiFi.mode(WIFI_STA);
-      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
-    }
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols
 #else
     //Be sure the standard protocols are turned on. ESP Now have have previously turned them off.
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);

From 8f37b54471236c3dfe28cea4b7c45a84d29bc0b7 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 11 Aug 2022 15:42:15 -0600
Subject: [PATCH 048/134] Fix bug in startup battery check

The battery gauge was being checked before it was marked as online. Dummy values were returned, causing the low battery check to inaccurately pass. This would lead to very low voltage units into a rolling reset if voltage was too low.
---
 Firmware/RTK_Surveyor/Begin.ino | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 02451f9b3..9a29c85be 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -544,6 +544,8 @@ void beginFuelGauge()
     return;
   }
 
+  online.battery = true;
+
   //Always use hibernate mode
   if (lipo.getHIBRTActThr() < 0xFF) lipo.setHIBRTActThr((uint8_t)0xFF);
   if (lipo.getHIBRTHibThr() < 0xFF) lipo.setHIBRTHibThr((uint8_t)0xFF);
@@ -553,7 +555,7 @@ void beginFuelGauge()
   checkBatteryLevels(); //Force check so you see battery level immediately at power on
 
   //Check to see if we are dangerously low
-  if (battLevel < 5 && battChangeRate < 0) //5% and not charging
+  if (battLevel < 5 && battChangeRate < 0.5) //5% and not charging
   {
     Serial.println("Battery too low. Please charge. Shutting down...");
 
@@ -565,7 +567,6 @@ void beginFuelGauge()
     powerDown(false); //Don't display 'Shutting Down'
   }
 
-  online.battery = true;
 }
 
 //Begin accelerometer if available

From bd320d9cdee477ed0e59b3da3a1b19866bde8017 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 11 Aug 2022 21:11:58 -0600
Subject: [PATCH 049/134] Clear icons during setup menu

---
 Firmware/RTK_Surveyor/Display.ino | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 9391799f6..061bdca3a 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -126,6 +126,7 @@ void updateDisplay()
       oled.erase();
 
       icons = 0;
+      iconsRadio = 0;
       switch (systemState)
       {
 

From c505ef77759dad6454252140c1ec4e20572069ea Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 11 Aug 2022 21:12:38 -0600
Subject: [PATCH 050/134] Add WiFi RSSI to System menu if connected

---
 Firmware/RTK_Surveyor/NtripClient.ino  | 6 ------
 Firmware/RTK_Surveyor/NtripServer.ino  | 5 -----
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 2 --
 Firmware/RTK_Surveyor/WiFi.ino         | 6 ++++--
 Firmware/RTK_Surveyor/menuSystem.ino   | 5 +++++
 5 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index d1a521377..0814c6558 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -452,12 +452,6 @@ void ntripClientUpdate()
         }
       }
 
-      if (millis() - lastWifiRSSIUpdate > 5000)
-      {
-        lastWifiRSSIUpdate = millis();
-        Serial.printf("NTRIP WiFi RSSI: %d\n\r", WiFi.RSSI());
-      }
-
       break;
   }
 #endif  //COMPILE_WIFI
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index d2e405732..4ec0918d7 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -583,11 +583,6 @@ void ntripServerUpdate()
       else
         cyclePositionLEDs();
 
-      if (millis() - lastWifiRSSIUpdate > 5000)
-      {
-        lastWifiRSSIUpdate = millis();
-        Serial.printf("NTRIP WiFi RSSI: %d\n\r", WiFi.RSSI());
-      }
       break;
   }
 #endif  //COMPILE_WIFI
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index f2fb0a2ed..cce862cb1 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -455,8 +455,6 @@ unsigned long rtcWaitTime = 0; //At poweron, we give the RTC a few seconds to up
 TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
 uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
-unsigned long lastWifiRSSIUpdate = 0; //Print RSSI when connected every few seconds
-
 bool firstRadioSpotBlink = false; //Controls when the shared icon space is toggled
 unsigned long firstRadioSpotTimer = 0;
 bool secondRadioSpotBlink = false; //Controls when the shared icon space is toggled
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 5d9b465e4..a4895f6f6 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -70,8 +70,10 @@ static uint32_t lastWifiState = 0;
 
 void wifiDisplayIpAddress()
 {
-  Serial.print("Wi-Fi IP address: ");
-  Serial.println(WiFi.localIP());
+  Serial.print("WiFi IP address: ");
+  Serial.print(WiFi.localIP());
+  Serial.printf(" RSSI: %d\n\r", WiFi.RSSI());
+
   wifiTimer = millis();
 }
 
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index d0c593e84..ce1e42e26 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -106,6 +106,11 @@ void menuSystem()
     }
     Serial.println();
 
+#ifdef COMPILE_WIFI
+    if (wifiState == WIFI_CONNECTED)
+      wifiDisplayIpAddress();
+#endif
+
     //Display the uptime
     uint64_t uptimeMilliseconds = millis();
     uint32_t uptimeDays = 0;

From c7b5c30450d278c25f9be1175dcbfb14b6ece9c3 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 11 Aug 2022 21:46:01 -0600
Subject: [PATCH 051/134] Add power down and display to system test sketch

---
 .../Test Sketches/System_Check/Buttons.ino    | 25 +++++++++
 .../Test Sketches/System_Check/Display.ino    | 53 +++++++++++++++++++
 .../System_Check/System_Check.ino             | 15 ++++--
 .../Test Sketches/System_Check/menuSystem.ino |  7 +++
 4 files changed, 96 insertions(+), 4 deletions(-)
 create mode 100644 Firmware/Test Sketches/System_Check/Buttons.ino

diff --git a/Firmware/Test Sketches/System_Check/Buttons.ino b/Firmware/Test Sketches/System_Check/Buttons.ino
new file mode 100644
index 000000000..5eb051769
--- /dev/null
+++ b/Firmware/Test Sketches/System_Check/Buttons.ino	
@@ -0,0 +1,25 @@
+//If we have a power button tap, or if the display is not yet started (no I2C!)
+//then don't display a shutdown screen
+void powerDown(bool displayInfo)
+{
+  //Disable SD card use
+  //endSD(false, false);
+
+  //Prevent other tasks from logging, even if access to the microSD card was denied
+  online.logging = false;
+
+  if (displayInfo == true)
+  {
+    //displayShutdown();
+    //delay(2000);
+  }
+
+  pinMode(pin_powerSenseAndControl, OUTPUT);
+  digitalWrite(pin_powerSenseAndControl, LOW);
+
+  pinMode(pin_powerFastOff, OUTPUT);
+  digitalWrite(pin_powerFastOff, LOW);
+
+  while (1)
+    delay(1);
+}
diff --git a/Firmware/Test Sketches/System_Check/Display.ino b/Firmware/Test Sketches/System_Check/Display.ino
index df093942c..166f91fbb 100644
--- a/Firmware/Test Sketches/System_Check/Display.ino	
+++ b/Firmware/Test Sketches/System_Check/Display.ino	
@@ -25,3 +25,56 @@ void beginDisplay()
     }
   }
 }
+
+//Attempt to send to display regardless of its online status
+//The I2C bus may allow it even if bus is misbehaving
+void displayHelloWorld()
+{
+  //if (online.display == true)
+  //{
+    oled.erase();
+
+    uint8_t fontHeight = 15;
+    uint8_t yPos = oled.getHeight() / 2 - fontHeight;
+
+    printTextCenter("Accel", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
+    printTextCenter("Failed", yPos + fontHeight, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
+
+    oled.display();
+
+//    delay(displayTime);
+  //}
+}
+
+//Given text, and location, print text center of the screen
+void printTextCenter(const char *text, uint8_t yPos, QwiicFont & fontType, uint8_t kerning, bool highlight) //text, y, font type, kearning, inverted
+{
+  oled.setFont(fontType);
+  oled.setDrawMode(grROPXOR);
+
+  uint8_t fontWidth = fontType.width;
+  if (fontWidth == 8) fontWidth = 7; //8x16, but widest character is only 7 pixels.
+
+  uint8_t xStart = (oled.getWidth() / 2) - ((strlen(text) * (fontWidth + kerning)) / 2) + 1;
+
+  uint8_t xPos = xStart;
+  for (int x = 0 ; x < strlen(text) ; x++)
+  {
+    oled.setCursor(xPos, yPos);
+    oled.print(text[x]);
+    xPos += fontWidth + kerning;
+  }
+
+  if (highlight) //Draw a box, inverted over text
+  {
+    uint8_t textPixelWidth = strlen(text) * (fontWidth + kerning);
+
+    //Error check
+    int xBoxStart = xStart - 5;
+    if (xBoxStart < 0) xBoxStart = 0;
+    int xBoxEnd = textPixelWidth + 9;
+    if (xBoxEnd > oled.getWidth() - 1) xBoxEnd = oled.getWidth() - 1;
+
+    oled.rectangleFill(xBoxStart, yPos, xBoxEnd, 12, 1); //x, y, width, height, color
+  }
+}
diff --git a/Firmware/Test Sketches/System_Check/System_Check.ino b/Firmware/Test Sketches/System_Check/System_Check.ino
index 3e079e9c5..7942a4e2d 100644
--- a/Firmware/Test Sketches/System_Check/System_Check.ino	
+++ b/Firmware/Test Sketches/System_Check/System_Check.ino	
@@ -147,6 +147,10 @@ float battChangeRate = 0.0;
 //External Display
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 #include <SparkFun_Qwiic_OLED.h> //http://librarymanager/All#SparkFun_Qwiic_Graphic_OLED
+
+#include <res/qw_fnt_5x7.h>
+#include <res/qw_fnt_8x16.h>
+#include <res/qw_fnt_largenum.h>
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //microSD Interface
@@ -175,7 +179,6 @@ uint32_t sdFreeSpaceMB = 0;
 uint32_t sdUsedSpaceMB = 0;
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
-
 //Hardware serial and BT buffers
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 HardwareSerial serialGNSS(2); //TX on 17, RX on 16
@@ -190,8 +193,6 @@ unsigned long splashStart = 0; //Controls how long the splash is displayed for.
 
 char platformPrefix[40] = "Surveyor"; //Sets the prefix for broadcast names
 bool zedUartPassed = false; //Goes true during testing if ESP can communicate with ZED over UART
-
-bool i2cBorked = false;
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 void setup()
@@ -244,7 +245,10 @@ void setup()
   Wire.beginTransmission(0x15); //Dummy address
   int endValue = Wire.endTransmission();
   Serial.printf("Response time: %d endValue: %d\n\r", millis() - startTime, endValue);
-  if(endValue == 2) online.i2c = true;
+  if(endValue == 2)
+    online.i2c = true;
+  else if (endValue == 5)
+    Serial.println("It appears something is shorting the I2C lines.");
 
   beginBoard(); //Determine what hardware platform we are running on and check on button
 
@@ -259,6 +263,9 @@ void setup()
 
   beginSD(); //Test if SD is present
 
+  beginDisplay(); //Start display first to be able to display any errors
+  displayHelloWorld(); //Display something, ignore I2C bus status
+  
   menuSystem();
 }
 
diff --git a/Firmware/Test Sketches/System_Check/menuSystem.ino b/Firmware/Test Sketches/System_Check/menuSystem.ino
index 7b379cb84..8bc9d4e8f 100644
--- a/Firmware/Test Sketches/System_Check/menuSystem.ino	
+++ b/Firmware/Test Sketches/System_Check/menuSystem.ino	
@@ -143,6 +143,7 @@ void menuSystem()
     Serial.println(F("S) Verbose scan of I2C"));
     Serial.println(F("t) Toggle pin"));
     Serial.println(F("r) Reset"));
+    Serial.println(F("p) Power Down"));
 
     byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
 
@@ -259,6 +260,12 @@ void menuSystem()
         ESP.restart();
       }
     }
+    else if (incoming == 'p')
+    {
+      Serial.println("Power down");
+
+      powerDown(false); //No display
+    }
     else if (incoming == STATUS_GETBYTE_TIMEOUT)
     {
       //break;

From d9c1ba0f71baa79005266904b2e80021cdaeab07 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 11 Aug 2022 21:46:36 -0600
Subject: [PATCH 052/134] Reset NTRIP connection attempts every 6 hours

---
 Firmware/RTK_Surveyor/NtripServer.ino | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 4ec0918d7..c6002fce0 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -76,6 +76,11 @@ static uint32_t ntripServerStateLastDisplayed = 0;
 //  * Receive RTCM correction data timeout
 static uint32_t ntripServerTimer;
 
+//Record last connection attempt
+//After 6 hours, reset the connectionAttempts to enable
+//multi week/month base installations
+static uint32_t lastConnectionAttempt = 0;
+
 //----------------------------------------
 // NTRIP Server Routines - compiled out
 //----------------------------------------
@@ -508,6 +513,8 @@ void ntripServerUpdate()
       {
         log_d("NTRIP Server caster failed to connect. Trying again.");
 
+        lastConnectionAttempt = millis();
+
         //Assume service not available
         if (ntripServerConnectLimitReached())
           Serial.println("NTRIP Server failed to connect! Do you have your caster address and port correct?");
@@ -581,8 +588,19 @@ void ntripServerUpdate()
         ntripServerStop(false); //Allocate new wifiClient
       }
       else
+      {
+        //All is well
         cyclePositionLEDs();
 
+        //There may be intermintant disconnects over days or weeks
+        //Reset the reconnect attempts every 6 hours
+        if (ntripServerConnectionAttempts > 0 && (millis() - lastConnectionAttempt) > (1000L * 60 * 60 * 6))
+        {
+          ntripServerConnectionAttempts = 0;
+          log_d("Resetting connection attempts");
+        }
+      }
+
       break;
   }
 #endif  //COMPILE_WIFI

From 4b24eeb4707d73200d0c8d1e01500f26e807cca5 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 12 Aug 2022 10:43:26 -0600
Subject: [PATCH 053/134] Adding Pair submenu

---
 Firmware/RTK_Surveyor/Display.ino | 24 ++++++++++++++++++++++++
 Firmware/RTK_Surveyor/ESPNOW.ino  |  1 -
 Firmware/RTK_Surveyor/States.ino  | 15 +++++++++++++++
 Firmware/RTK_Surveyor/Tasks.ino   |  8 ++++++++
 Firmware/RTK_Surveyor/settings.h  |  1 +
 5 files changed, 48 insertions(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 061bdca3a..12245a901 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -331,6 +331,10 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
 
+        case (STATE_ESPNOW_PAIR):
+          paintEspNowPair();
+          break;
+
         case (STATE_SHUTDOWN):
           displayShutdown();
           break;
@@ -2147,6 +2151,13 @@ void paintDisplaySetup()
       printTextCenter("Bubble", 12 * 2, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 3, QW_FONT_8X16, 1, true);
     }
+    else if (setupState == STATE_ESPNOW_PAIR)
+    {
+      printTextCenter("Base", 12 * 0, QW_FONT_8X16, 1, false);
+      printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
+      printTextCenter("Config", 12 * 2, QW_FONT_8X16, 1, false);
+      printTextCenter("Pair", 12 * 3, QW_FONT_8X16, 1, true);
+    }
     else if (setupState == STATE_PROFILE)
       paintDisplaySetupProfile("Base");
   } //end type F9P
@@ -2180,6 +2191,13 @@ void paintDisplaySetup()
       printTextCenter("Bubble", 12 * 2, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 3, QW_FONT_8X16, 1, true);
     }
+    else if (setupState == STATE_ESPNOW_PAIR)
+    {
+      printTextCenter("Rover", 12 * 0, QW_FONT_8X16, 1, false);
+      printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
+      printTextCenter("Config", 12 * 2, QW_FONT_8X16, 1, false);
+      printTextCenter("Pair", 12 * 3, QW_FONT_8X16, 1, true);
+    }
     else if (setupState == STATE_PROFILE)
       paintDisplaySetupProfile("Rover");
   } //end type F9R
@@ -2501,3 +2519,9 @@ void paintKeyProvisionFail(uint16_t displayTime)
     delay(displayTime);
   }
 }
+
+//Show screen while ESP-Now is pairing
+void paintEspNowPair()
+{
+  displayMessage("ESP-Now Pairing", 0);
+}
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 37c2e074b..e0a6b20d9 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -188,7 +188,6 @@ void espnowStop()
 void espnowBeginPairing()
 {
   espnowStart();
-  Serial.println("1");
 
   // To begin pairing, we must add the broadcast MAC to the peer list
   uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 0b6338b0d..8d2c3cbc8 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -898,6 +898,17 @@ void updateSystemState()
         }
         break;
 
+      case (STATE_ESPNOW_PAIR):
+        {
+          if(espnowState == ESPNOW_OFF)
+          {
+            espnowBeginPairing();
+          }
+
+          //Display 'ESP-Now Pairing' while we wait
+        }
+        break;
+
       case (STATE_SHUTDOWN):
         {
           forceDisplayUpdate = true;
@@ -1038,6 +1049,10 @@ void changeState(SystemState newState)
         Serial.print("State: Keys Provision - WiFi Timeout");
         break;
 
+      case (STATE_ESPNOW_PAIR):
+        Serial.print("State: ESP-Now Pair");
+        break;
+
       case (STATE_SHUTDOWN):
         Serial.print("State: Shut Down");
         break;
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 6d035fa66..2815ce9d4 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -412,6 +412,7 @@ void ButtonCheckTask(void *e)
           case STATE_BUBBLE_LEVEL:
           case STATE_WIFI_CONFIG_NOT_STARTED:
           case STATE_WIFI_CONFIG:
+          case STATE_ESPNOW_PAIR:
             lastSystemState = systemState; //Remember this state to return after we mark an event
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
@@ -463,6 +464,9 @@ void ButtonCheckTask(void *e)
                 setupState = STATE_WIFI_CONFIG_NOT_STARTED;
                 break;
               case STATE_WIFI_CONFIG_NOT_STARTED:
+                setupState = STATE_ESPNOW_PAIR;
+                break;
+              case STATE_ESPNOW_PAIR:
                 //If only one active profile do not show any profiles
                 index = getProfileNumberFromUnit(0);
                 displayProfile = getProfileNumberFromUnit(1);
@@ -527,6 +531,7 @@ void ButtonCheckTask(void *e)
           case STATE_BUBBLE_LEVEL:
           case STATE_WIFI_CONFIG_NOT_STARTED:
           case STATE_WIFI_CONFIG:
+          case STATE_ESPNOW_PAIR:
             lastSystemState = systemState; //Remember this state to return after we mark an event
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
@@ -578,6 +583,9 @@ void ButtonCheckTask(void *e)
                 setupState = STATE_WIFI_CONFIG_NOT_STARTED;
                 break;
               case STATE_WIFI_CONFIG_NOT_STARTED:
+                setupState = STATE_ESPNOW_PAIR;
+                break;
+              case STATE_ESPNOW_PAIR:
                 //If only one active profile do not show any profiles
                 index = getProfileNumberFromUnit(0);
                 displayProfile = getProfileNumberFromUnit(1);
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index f046ec1d5..6da21e836 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -33,6 +33,7 @@ typedef enum
   STATE_KEYS_PROVISION_WIFI_STARTED,
   STATE_KEYS_PROVISION_WIFI_CONNECTED,
   STATE_KEYS_PROVISION_WIFI_TIMEOUT,
+  STATE_ESPNOW_PAIR,
   STATE_SHUTDOWN,
 } SystemState;
 volatile SystemState systemState = STATE_ROVER_NOT_STARTED;

From 459f5433138ed0a05dfb2e710270ca65a3d3f17d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 12 Aug 2022 13:15:08 -0600
Subject: [PATCH 054/134] Begin adding Pair submenu

---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 66 ++++++++++----------------
 Firmware/RTK_Surveyor/NtripServer.ino  |  2 +-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  2 +-
 Firmware/RTK_Surveyor/States.ino       |  6 +--
 Firmware/RTK_Surveyor/Tasks.ino        |  5 ++
 Firmware/RTK_Surveyor/menuMain.ino     | 28 ++++++++++-
 6 files changed, 60 insertions(+), 49 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index e0a6b20d9..64b825cec 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -149,7 +149,7 @@ void espnowStart()
 //If WiFi is off, stop the radio entirely
 void espnowStop()
 {
-  if(espnowState == ESPNOW_OFF) return;
+  if (espnowState == ESPNOW_OFF) return;
 
   if (wifiState == WIFI_OFF)
   {
@@ -184,7 +184,7 @@ void espnowStop()
   Serial.println("ESP NOW Off");
 }
 
-//Begin broadcasting our MAC and wait for remote unit to respond
+//Start ESP-Now if needed, put ESP-Now into broadcast state
 void espnowBeginPairing()
 {
   espnowStart();
@@ -194,55 +194,37 @@ void espnowBeginPairing()
   espnowAddPeer(broadcastMac, false); // Encryption is not supported for multicast addresses
 
   espnowSetState(ESPNOW_PAIRING);
+}
 
-  //Begin sending our MAC every 250ms until a remote device sends us there info
-  randomSeed(millis());
-
-  Serial.println("Begin pairing. Place other unit in pairing mode. Press any key to exit.");
-  while (Serial.available()) Serial.read();
-
-  while (1)
+//Regularly call during pairing to see if we've received a Pairing message
+bool espnowIsPaired()
+{
+  if (espnowState == ESPNOW_MAC_RECEIVED)
   {
-    if (Serial.available()) break;
+    //Remove broadcast peer
+    espnowRemovePeer(broadcastMac);
 
-    int timeout = 1000 + random(0, 100); //Delay 1000 to 1100ms
-    for (int x = 0 ; x < timeout ; x++)
+    if (esp_now_is_peer_exist(receivedMAC) == true)
+      log_d("Peer already exists");
+    else
     {
-      delay(1);
+      //Add new peer to system
+      espnowAddPeer(receivedMAC);
 
-      if (espnowState == ESPNOW_MAC_RECEIVED)
-      {
-        //Remove broadcast peer
-        espnowRemovePeer(broadcastMac);
-
-        if (esp_now_is_peer_exist(receivedMAC) == true)
-          log_d("Peer already exists");
-        else
-        {
-          //Add new peer to system
-          espnowAddPeer(receivedMAC);
-
-          //Record this MAC to peer list
-          memcpy(settings.espnowPeers[settings.espnowPeerCount], receivedMAC, 6);
-          settings.espnowPeerCount++;
-          settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
-        }
-
-        //Send message directly to the received MAC (not unicast), then exit
-        espnowSendPairMessage(receivedMAC);
-
-        espnowSetState(ESPNOW_PAIRED);
-        Serial.println("Pairing compete");
-        return;
-      }
+      //Record this MAC to peer list
+      memcpy(settings.espnowPeers[settings.espnowPeerCount], receivedMAC, 6);
+      settings.espnowPeerCount++;
+      settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
     }
 
-    espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
+    //Send message directly to the received MAC (not unicast), then exit
+    espnowSendPairMessage(receivedMAC);
 
-    Serial.println("Scanning for other radio...");
+    espnowSetState(ESPNOW_PAIRED);
+    Serial.println("Pairing compete");
+    return(true);
   }
-
-  Serial.println("User pressed button. Pairing canceled.");
+  return(false);
 }
 
 //Create special pair packet to a given MAC
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index c6002fce0..0deed7f31 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -581,7 +581,7 @@ void ntripServerUpdate()
         Serial.println("NTRIP Server connection dropped");
         ntripServerStop(false); //Allocate new wifiClient
       }
-      else if ((millis() - ntripServerTimer) > 1000)
+      else if ((millis() - ntripServerTimer) > 3000)
       {
         //GNSS stopped sending RTCM correction data
         Serial.println("NTRIP Server breaking caster connection due to lack of RTCM data!");
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 7f1bcb4fd..37f205d1b 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -467,7 +467,7 @@ bool espnowOutgoingRTCM = false;
   |        RTCM |--->|-->|           |--------->|        |-->|----->|TXD, MISO |     |
   |             |    |   | Bluetooth |          | UART 2 |   |      | UART1    |     |
   | NMEA + RTCM |<---|<--|           |<-------+-|        |<--|<-----|RXD, MOSI |<----'
-  +-------------+    |   '-----------'        | '--------'   |28  42|          |
+  +-------------+    |   '-----------'        | '--------'   |28  43|          |
                      |                        |              |      |          |
       .---------+    |                        |              |      |          |
      / uSD Card |    |                        |              |      |          |
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 480ca78c8..3a55051cf 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -902,10 +902,8 @@ void updateSystemState()
 
       case (STATE_ESPNOW_PAIR):
         {
-          if(espnowState == ESPNOW_OFF)
-          {
-            espnowBeginPairing();
-          }
+
+espnowIsPaired()
 
           //Display 'ESP-Now Pairing' while we wait
         }
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 2815ce9d4..44e5122f8 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -618,6 +618,11 @@ void ButtonCheckTask(void *e)
   }
 }
 
+TODO once a user has selected 'Pair', send this once
+  //Start ESP-Now if needed, put ESP-Now into broadcast state
+  espnowBeginPairing();
+
+
 void idleTask(void *e)
 {
   int cpu = xPortGetCoreID();
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 9d8b83bbb..5460fa34c 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -334,7 +334,7 @@ void menuRadio()
       }
       else
         Serial.println("  No Paired Radios");
-      
+
 
       Serial.println("2) Pair radios");
       Serial.println("3) Forget all radios");
@@ -352,7 +352,33 @@ void menuRadio()
     else if (settings.radioType == RADIO_ESPNOW && incoming == 2)
     {
       Serial.println("Begin ESP NOW Pairing");
+
+      //Start ESP-Now if needed, put ESP-Now into broadcast state
       espnowBeginPairing();
+
+      //Begin sending our MAC every 250ms until a remote device sends us there info
+      randomSeed(millis());
+
+      Serial.println("Begin pairing. Place other unit in pairing mode. Press any key to exit.");
+      while (Serial.available()) Serial.read();
+
+      while (1)
+      {
+        if (Serial.available()) break;
+
+        int timeout = 1000 + random(0, 100); //Delay 1000 to 1100ms
+        for (int x = 0 ; x < timeout ; x++)
+        {
+          delay(1);
+          if (espnowIsPaired()) break; //Check if we've received a pairing message
+        }
+
+        espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
+
+        Serial.println("Scanning for other radio...");
+      }
+
+      Serial.println("User pressed button. Pairing canceled.");
     }
     else if (settings.radioType == RADIO_ESPNOW && incoming == 3)
     {

From b6d23e518c32753d5ef736b921d67a729372ad85 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Fri, 12 Aug 2022 09:32:00 -1000
Subject: [PATCH 055/134] Add define to RTK_Surveyor to enable/disable
 compiling of idle tasks

---
 Firmware/RTK_Surveyor/Begin.ino        | 2 ++
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 1 +
 Firmware/RTK_Surveyor/Tasks.ino        | 3 +++
 3 files changed, 6 insertions(+)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index ffc96ad4b..f64b9c2c0 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -705,6 +705,7 @@ bool beginExternalTriggers()
 
 void beginIdleTasks()
 {
+#ifdef  COMPILE_IDLE_TASKS
   if (settings.enablePrintIdleTime == true)
   {
     char taskName[32];
@@ -723,6 +724,7 @@ void beginIdleTasks()
           index); //Core where task should run, 0=core, 1=Arduino
     }
   }
+#endif  //COMPILE_IDLE_TASKS
 }
 
 void beginI2C()
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 7f1bcb4fd..5b7b7f38f 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -30,6 +30,7 @@ const int FIRMWARE_VERSION_MINOR = 4;
 #define COMPILE_AP //Comment out to remove Access Point functionality
 #define COMPILE_L_BAND //Comment out to remove L-Band functionality
 #define COMPILE_ESPNOW //Comment out to remove ESP-Now functionality
+#define COMPILE_IDLE_TASKS  //Comment out to remove idle tasks
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 2815ce9d4..b2381b451 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -618,6 +618,7 @@ void ButtonCheckTask(void *e)
   }
 }
 
+#ifdef  COMPILE_IDLE_TASKS
 void idleTask(void *e)
 {
   int cpu = xPortGetCoreID();
@@ -667,3 +668,5 @@ void idleTask(void *e)
     taskYIELD();
   }
 }
+#endif  //COMPILE_IDLE_TASKS
+

From d5dcdca66a8fe9504877d37c8691729a7670b4b8 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Fri, 12 Aug 2022 09:38:43 -1000
Subject: [PATCH 056/134] Increase NTRIP server no RTCM data timeout from 1
 second to 3 seconds

---
 Firmware/RTK_Surveyor/NtripServer.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index c6002fce0..862c2de9f 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -581,7 +581,7 @@ void ntripServerUpdate()
         Serial.println("NTRIP Server connection dropped");
         ntripServerStop(false); //Allocate new wifiClient
       }
-      else if ((millis() - ntripServerTimer) > 1000)
+      else if ((millis() - ntripServerTimer) > (3 * 1000))
       {
         //GNSS stopped sending RTCM correction data
         Serial.println("NTRIP Server breaking caster connection due to lack of RTCM data!");

From 50922b4ef8f999a02270dec36b70105845197c25 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Fri, 12 Aug 2022 15:20:14 -1000
Subject: [PATCH 057/134] Move the icon width and height to above the icon
 data, add const

Make the width and height easily found for each icon by generically
searching for _Width and _Height before the icon data.  If width and
height not found, use previous width and height.

Move the icons, widths and heights from RAM into flash.
---
 Firmware/RTK_Surveyor/Display.ino |   4 +-
 Firmware/RTK_Surveyor/icons.h     | 181 +++++++++++++++---------------
 2 files changed, 92 insertions(+), 93 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 12245a901..bcd00552d 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2287,9 +2287,9 @@ void paintResets()
 }
 
 //Wrapper to avoid needing to pass width/height data twice
-void displayBitmap(uint8_t x, uint8_t y, uint8_t imageWidth, uint8_t imageHeight, uint8_t *imageData)
+void displayBitmap(uint8_t x, uint8_t y, uint8_t imageWidth, uint8_t imageHeight, const uint8_t *imageData)
 {
-  oled.bitmap(x, y, x + imageWidth, y + imageHeight, imageData, imageWidth, imageHeight);
+  oled.bitmap(x, y, x + imageWidth, y + imageHeight, (uint8_t *)imageData, imageWidth, imageHeight);
 }
 
 void displayKeysUpdated()
diff --git a/Firmware/RTK_Surveyor/icons.h b/Firmware/RTK_Surveyor/icons.h
index ddcf99727..646a5a6cf 100644
--- a/Firmware/RTK_Surveyor/icons.h
+++ b/Firmware/RTK_Surveyor/icons.h
@@ -21,11 +21,11 @@
 
 */
 
-uint8_t BT_Symbol [] = {
+const int BT_Symbol_Height = 14;
+const int BT_Symbol_Width = 7;
+const uint8_t BT_Symbol [] = {
   0x18, 0x30, 0xE0, 0xFF, 0xE6, 0x3C, 0x18, 0x06, 0x03, 0x01, 0x3F, 0x19, 0x0F, 0x06,
 };
-int BT_Symbol_Height = 14;
-int BT_Symbol_Width = 7;
 
 /*
     WiFi_Symbol [13, 9]
@@ -41,24 +41,24 @@ int BT_Symbol_Width = 7;
 
 */
 
-uint8_t WiFi_Symbol_3 [] = {
+const int WiFi_Symbol_Height = 9;
+const int WiFi_Symbol_Width = 13;
+const uint8_t WiFi_Symbol_3 [] = {
   0x08, 0x04, 0x12, 0x09, 0x25, 0x95, 0xD5, 0x95, 0x25, 0x09, 0x12, 0x04, 0x08, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
-uint8_t WiFi_Symbol_2 [] = {
+const uint8_t WiFi_Symbol_2 [] = {
   0x00, 0x00, 0x10, 0x08, 0x24, 0x94, 0xD4, 0x94, 0x24, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
-uint8_t WiFi_Symbol_1 [] = {
+const uint8_t WiFi_Symbol_1 [] = {
   0x00, 0x00, 0x00, 0x00, 0x20, 0x90, 0xD0, 0x90, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
-uint8_t WiFi_Symbol_0 [] = {
+const uint8_t WiFi_Symbol_0 [] = {
   0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 };
-int WiFi_Symbol_Height = 9;
-int WiFi_Symbol_Width = 13;
 
 /*
     CrossHair [15, 15]
@@ -80,12 +80,12 @@ int WiFi_Symbol_Width = 13;
 
 */
 
-uint8_t CrossHair [] = {
+const int CrossHair_Height = 15;
+const int CrossHair_Width = 15;
+const uint8_t CrossHair [] = {
   0x80, 0x80, 0xF0, 0x88, 0x84, 0x84, 0x84, 0x7F, 0x84, 0x84, 0x84, 0x88, 0xF0, 0x80, 0x80, 0x00,
   0x00, 0x07, 0x08, 0x10, 0x10, 0x10, 0x7F, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00, 0x00,
 };
-int CrossHair_Height = 15;
-int CrossHair_Width = 15;
 
 /*
     CrossHairDual [15, 15]
@@ -107,12 +107,12 @@ int CrossHair_Width = 15;
 
 */
 
-uint8_t CrossHairDual [] = {
+const int CrossHairDual_Height = 15;
+const int CrossHairDual_Width = 15;
+const uint8_t CrossHairDual [] = {
   0x80, 0x80, 0xF0, 0x88, 0xE4, 0x94, 0x94, 0x7F, 0x94, 0x94, 0xE4, 0x88, 0xF0, 0x80, 0x80, 0x00,
   0x00, 0x07, 0x08, 0x13, 0x14, 0x14, 0x7F, 0x14, 0x14, 0x13, 0x08, 0x07, 0x00, 0x00,
 };
-int CrossHairDual_Height = 15;
-int CrossHairDual_Width = 15;
 
 /*
     SIV_Antenna [12, 13]
@@ -132,12 +132,12 @@ int CrossHairDual_Width = 15;
          ******
 */
 
-uint8_t SIV_Antenna [] = {
+const int SIV_Antenna_Height = 13;
+const int SIV_Antenna_Width = 12;
+const uint8_t SIV_Antenna [] = {
   0x00, 0x1E, 0x62, 0x84, 0x08, 0x10, 0x20, 0x50, 0x88, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x1F,
   0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00,
 };
-int SIV_Antenna_Height = 13;
-int SIV_Antenna_Width = 12;
 
 /*
     SIV_Antenna_LBand [12, 13]
@@ -157,12 +157,12 @@ int SIV_Antenna_Width = 12;
          ******
 */
 
-uint8_t SIV_Antenna_LBand [] = {
+const int SIV_Antenna_LBand_Height = 13;
+const int SIV_Antenna_LBand_Width = 12;
+const uint8_t SIV_Antenna_LBand [] = {
   0x00, 0x1E, 0x62, 0x84, 0x08, 0x14, 0x22, 0x50, 0x88, 0x40, 0x20, 0x00, 0x00, 0x10, 0x10, 0x1F,
   0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00,
 };
-int SIV_Antenna_LBand_Height = 13;
-int SIV_Antenna_LBand_Width = 12;
 
 /*
     Rover_Fusion [15, 9]
@@ -178,12 +178,12 @@ int SIV_Antenna_LBand_Width = 12;
           **       **
 */
 
-uint8_t Rover_Fusion [] = {
+const int Rover_Fusion_Height = 9;
+const int Rover_Fusion_Width = 15;
+const uint8_t Rover_Fusion [] = {
   0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x7D, 0x55, 0x55, 0x45, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C, 0x00,
   0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00,
 };
-int Rover_Fusion_Height = 9;
-int Rover_Fusion_Width = 15;
 
 /*
     Rover_Fusion_Empty [15, 9]
@@ -199,12 +199,12 @@ int Rover_Fusion_Width = 15;
           **       **
 */
 
-uint8_t Rover_Fusion_Empty [] = {
+const int Rover_Fusion_Empty_Height = 9;
+const int Rover_Fusion_Empty_Width = 15;
+const uint8_t Rover_Fusion_Empty [] = {
   0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x41, 0x41, 0x41, 0x41, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C, 0x00,
   0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00,
 };
-int Rover_Fusion_Empty_Height = 9;
-int Rover_Fusion_Empty_Width = 15;
 
 /*
     BaseTemporary [14, 12]
@@ -223,12 +223,12 @@ int Rover_Fusion_Empty_Width = 15;
 
 */
 
-uint8_t BaseTemporary [] = {
+const int BaseTemporary_Height = 12;
+const int BaseTemporary_Width = 14;
+const uint8_t BaseTemporary [] = {
   0x00, 0xFF, 0x99, 0x99, 0xE7, 0xCE, 0x32, 0x32, 0xE7, 0xE7, 0x99, 0x32, 0xFE, 0x00, 0x00, 0x1F,
   0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00,
 };
-int BaseTemporary_Height = 12;
-int BaseTemporary_Width = 14;
 
 /*
     BaseFixed [14, 12]
@@ -247,12 +247,12 @@ int BaseTemporary_Width = 14;
         ******  ******
 */
 
-uint8_t BaseFixed [] = {
+const int BaseFixed_Height = 12;
+const int BaseFixed_Width = 14;
+const uint8_t BaseFixed [] = {
   0x00, 0xFF, 0x01, 0x0F, 0x01, 0x8F, 0x88, 0x88, 0x8F, 0x01, 0x0F, 0x01, 0xFF, 0x00, 0x0E, 0x09,
   0x08, 0x08, 0x08, 0x0F, 0x00, 0x00, 0x0F, 0x08, 0x08, 0x08, 0x09, 0x0E,
 };
-int BaseFixed_Height = 12;
-int BaseFixed_Width = 14;
 
 /*
     Battery_3 [19, 12]
@@ -271,13 +271,13 @@ int BaseFixed_Width = 14;
         *****************
 */
 
-uint8_t Battery_3 [] = {
+const int Battery_3_Height = 12;
+const int Battery_3_Width = 19;
+const uint8_t Battery_3 [] = {
   0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01,
   0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B,
   0x0B, 0x0B, 0x08, 0x0F, 0x01, 0x01,
 };
-int Battery_3_Height = 12;
-int Battery_3_Width = 19;
 
 /*
     Battery_2 [19, 12]
@@ -296,13 +296,13 @@ int Battery_3_Width = 19;
         *****************
 */
 
-uint8_t Battery_2 [] = {
+const int Battery_2_Height = 12;
+const int Battery_2_Width = 19;
+const uint8_t Battery_2 [] = {
   0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
   0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08,
   0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
 };
-int Battery_2_Height = 12;
-int Battery_2_Width = 19;
 
 /*
     Battery_1 [19, 12]
@@ -321,13 +321,13 @@ int Battery_2_Width = 19;
         *****************
 */
 
-uint8_t Battery_1 [] = {
+const int Battery_1_Height = 12;
+const int Battery_1_Width = 19;
+const uint8_t Battery_1 [] = {
   0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
   0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
 };
-int Battery_1_Height = 12;
-int Battery_1_Width = 19;
 
 /*
     Battery_0 [19, 12]
@@ -346,13 +346,13 @@ int Battery_1_Width = 19;
         *****************
 */
 
-uint8_t Battery_0 [] = {
+const int Battery_0_Height = 12;
+const int Battery_0_Width = 19;
+const uint8_t Battery_0 [] = {
   0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
   0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
 };
-int Battery_0_Height = 12;
-int Battery_0_Width = 19;
 
 /*
     Logging_3 [9, 12]
@@ -371,12 +371,12 @@ int Battery_0_Width = 19;
         *********
 */
 
-uint8_t Logging_3 [] = {
+const int Logging_3_Height = 12;
+const int Logging_3_Width = 9;
+const uint8_t Logging_3 [] = {
   0xFF, 0x01, 0x51, 0x51, 0x51, 0x51, 0x53, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
   0x08, 0x0F,
 };
-int Logging_3_Height = 12;
-int Logging_3_Width = 9;
 
 /*
     Logging_2 [9, 12]
@@ -395,12 +395,12 @@ int Logging_3_Width = 9;
         *********
 */
 
-uint8_t Logging_2 [] = {
+const int Logging_2_Height = 12;
+const int Logging_2_Width = 9;
+const uint8_t Logging_2 [] = {
   0xFF, 0x01, 0x41, 0x41, 0x41, 0x41, 0x43, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
   0x08, 0x0F,
 };
-int Logging_2_Height = 12;
-int Logging_2_Width = 9;
 
 /*
     Logging_1 [9, 12]
@@ -419,12 +419,12 @@ int Logging_2_Width = 9;
         *********
 */
 
-uint8_t Logging_1 [] = {
+const int Logging_1_Height = 12;
+const int Logging_1_Width = 9;
+const uint8_t Logging_1 [] = {
   0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
   0x08, 0x0F,
 };
-int Logging_1_Height = 12;
-int Logging_1_Width = 9;
 
 /*
     Logging_0 [9, 12]
@@ -443,44 +443,43 @@ int Logging_1_Width = 9;
         *********
 */
 
-uint8_t Logging_0 [] = {
+const int Logging_0_Height = 12;
+const int Logging_0_Width = 9;
+const uint8_t Logging_0 [] = {
   0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x0F,
 };
 
-int Logging_0_Height = 12;
-int Logging_0_Width = 9;
-
-uint8_t Logging_PPP_3 [] = {
+const uint8_t Logging_PPP_3 [] = {
   0xFF, 0x01, 0xF9, 0x49, 0x49, 0x49, 0x33, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x0F,
 };
-uint8_t Logging_PPP_2 [] = {
+const uint8_t Logging_PPP_2 [] = {
   0xFF, 0x01, 0xF9, 0x41, 0x41, 0x41, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x0F,
 };
-uint8_t Logging_PPP_1 [] = {
+const uint8_t Logging_PPP_1 [] = {
   0xFF, 0x01, 0xC1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
   0x08, 0x0F,
 };
 
-uint8_t Logging_Custom_3 [] = {
+const uint8_t Logging_Custom_3 [] = {
   0xFF, 0x01, 0xF1, 0x09, 0x09, 0x09, 0x13, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
   0x08, 0x0F,
 };
-uint8_t Logging_Custom_2 [] = {
+const uint8_t Logging_Custom_2 [] = {
   0xFF, 0x01, 0xF1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
   0x08, 0x0F,
 };
-uint8_t Logging_Custom_1 [] = {
+const uint8_t Logging_Custom_1 [] = {
   0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
   0x08, 0x0F,
 };
 
 
 
-int DynamicModel_Height = 12;
-int DynamicModel_Width = 15;
+const int DynamicModel_Height = 12;
+const int DynamicModel_Width = 15;
 
 /*
     DynamicModel_1_Portable [15, 12]
@@ -499,7 +498,7 @@ int DynamicModel_Width = 15;
             ******
 */
 
-uint8_t DynamicModel_1_Portable [] = {
+const uint8_t DynamicModel_1_Portable [] = {
   0x00, 0xF0, 0x00, 0xF8, 0x04, 0x34, 0x34, 0x37, 0x37, 0x04, 0xF8, 0x00, 0xF0, 0x00, 0x00, 0x00,
   0x03, 0x00, 0x07, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x07, 0x00, 0x03, 0x00, 0x00,
 };
@@ -521,7 +520,7 @@ uint8_t DynamicModel_1_Portable [] = {
 
 */
 
-uint8_t DynamicModel_2_Stationary [] = {
+const uint8_t DynamicModel_2_Stationary [] = {
   0x00, 0x00, 0x00, 0x00, 0x82, 0xC6, 0x6E, 0xFE, 0x6E, 0xC6, 0x82, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x04, 0x06, 0x03, 0x01, 0x00, 0x00, 0x07, 0x00, 0x00, 0x01, 0x03, 0x06, 0x04, 0x00,
 };
@@ -543,7 +542,7 @@ uint8_t DynamicModel_2_Stationary [] = {
 
 */
 
-uint8_t DynamicModel_3_Pedestrian [] = {
+const uint8_t DynamicModel_3_Pedestrian [] = {
   0x00, 0x00, 0x00, 0x00, 0x20, 0x32, 0x95, 0xF9, 0x95, 0x32, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x04, 0x06, 0x03, 0x01, 0x00, 0x01, 0x07, 0x04, 0x00, 0x00, 0x00, 0x00,
 };
@@ -565,7 +564,7 @@ uint8_t DynamicModel_3_Pedestrian [] = {
 
 */
 
-uint8_t DynamicModel_4_Automotive [] = {
+const uint8_t DynamicModel_4_Automotive [] = {
   0x78, 0x84, 0x44, 0x44, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x88, 0x50, 0x50, 0x90, 0x70, 0x00,
   0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00,
 };
@@ -587,7 +586,7 @@ uint8_t DynamicModel_4_Automotive [] = {
 
 */
 
-uint8_t DynamicModel_5_Sea [] = {
+const uint8_t DynamicModel_5_Sea [] = {
   0x00, 0x60, 0xE0, 0x3C, 0x26, 0x3C, 0x20, 0x20, 0x20, 0xA0, 0xA0, 0x20, 0xE0, 0x60, 0x00, 0x00,
   0x00, 0x03, 0x06, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x06, 0x03, 0x00, 0x00,
 };
@@ -609,7 +608,7 @@ uint8_t DynamicModel_5_Sea [] = {
 
 */
 
-uint8_t DynamicModel_6_Airborne1g [] = {
+const uint8_t DynamicModel_6_Airborne1g [] = {
   0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0x88, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
   0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
 };
@@ -631,7 +630,7 @@ uint8_t DynamicModel_6_Airborne1g [] = {
 
 */
 
-uint8_t DynamicModel_7_Airborne2g [] = {
+const uint8_t DynamicModel_7_Airborne2g [] = {
   0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
   0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
 };
@@ -653,7 +652,7 @@ uint8_t DynamicModel_7_Airborne2g [] = {
 
 */
 
-uint8_t DynamicModel_8_Airborne4g [] = {
+const uint8_t DynamicModel_8_Airborne4g [] = {
   0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x28, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
   0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
 };
@@ -675,7 +674,7 @@ uint8_t DynamicModel_8_Airborne4g [] = {
               ***
 */
 
-uint8_t DynamicModel_9_Wrist [] = {
+const uint8_t DynamicModel_9_Wrist [] = {
   0x00, 0x00, 0x00, 0xE0, 0x10, 0x08, 0x4F, 0x4F, 0x4F, 0x08, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x01, 0x02, 0x1E, 0x1E, 0x1E, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00,
 };
@@ -697,7 +696,7 @@ uint8_t DynamicModel_9_Wrist [] = {
 
 */
 
-uint8_t DynamicModel_10_Bike [] = {
+const uint8_t DynamicModel_10_Bike [] = {
   0x00, 0x80, 0x40, 0x50, 0x90, 0xB0, 0xC0, 0xC0, 0xC0, 0xA0, 0x98, 0x4C, 0x4C, 0x80, 0x00, 0x00,
   0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00,
 };
@@ -716,11 +715,11 @@ uint8_t DynamicModel_10_Bike [] = {
            **
 */
 
-uint8_t DownloadArrow [] = {
+const int DownloadArrow_Height = 9;
+const int DownloadArrow_Width = 8;
+const uint8_t DownloadArrow [] = {
   0x20, 0x60, 0xC0, 0xFF, 0xFF, 0xC0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
 };
-int DownloadArrow_Height = 9;
-int DownloadArrow_Width = 8;
 
 /*
     UploadArrow [8, 9]
@@ -736,11 +735,11 @@ int DownloadArrow_Width = 8;
            **
 */
 
-uint8_t UploadArrow [] = {
+const int UploadArrow_Height = 9;
+const int UploadArrow_Width = 8;
+const uint8_t UploadArrow [] = {
   0x08, 0x0C, 0x06, 0xFF, 0xFF, 0x06, 0x0C, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
 };
-int UploadArrow_Height = 9;
-int UploadArrow_Width = 8;
 
 /*
     logoSparkFun [64, 48]
@@ -800,7 +799,9 @@ int UploadArrow_Width = 8;
 */
 
 //SparkFun Electronics LOGO
-uint8_t logoSparkFun [] = {
+const int logoSparkFun_Height = 48;
+const int logoSparkFun_Width = 64;
+const uint8_t logoSparkFun [] = {
   // ROW0, BYTE0 to BYTE63
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
@@ -837,20 +838,18 @@ uint8_t logoSparkFun [] = {
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
-int logoSparkFun_Height = 48;
-int logoSparkFun_Width = 64;
 
-uint8_t ESPNOW_Symbol_3 [] = {
+const int ESPNOW_Symbol_Height = 13;
+const int ESPNOW_Symbol_Width = 8;
+const uint8_t ESPNOW_Symbol_3 [] = {
   0xE0, 0x40, 0x10, 0xE4, 0x09, 0xF2, 0x04, 0xF8, 0x00, 0x00, 0x01, 0x04, 0x12, 0x09, 0x04, 0x03
 };
-uint8_t ESPNOW_Symbol_2 [] = {
+const uint8_t ESPNOW_Symbol_2 [] = {
   0xE0, 0x40, 0x10, 0xE4, 0x08, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x02, 0x01, 0x00, 0x00
 };
-uint8_t ESPNOW_Symbol_1 [] = {
+const uint8_t ESPNOW_Symbol_1 [] = {
   0xE0, 0x40, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00
 };
-uint8_t ESPNOW_Symbol_0 [] = {
+const uint8_t ESPNOW_Symbol_0 [] = {
   0xE0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
-int ESPNOW_Symbol_Height = 13;
-int ESPNOW_Symbol_Width = 8;

From 923050b3800fddd0dd500bc14037675e78625ddc Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Fri, 12 Aug 2022 15:17:42 -1000
Subject: [PATCH 058/134] Add program to draw pictures from the icon data

Build the program:
    gcc -i Icons Icons.c

Execute the program:
    Icons ../Firmware/RTK_Surveyor/icons.h

Outputs a new version of the icons.h file
---
 C/Icons.c | 547 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 547 insertions(+)
 create mode 100644 C/Icons.c

diff --git a/C/Icons.c b/C/Icons.c
new file mode 100644
index 000000000..d053adee8
--- /dev/null
+++ b/C/Icons.c
@@ -0,0 +1,547 @@
+#include <fcntl.h>
+#include <malloc.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#define ALPHABETICAL_ORDER  0
+#define DISPLAY_COMMENT     1
+#define DISPLAY_VARIABLES   1
+#define DRAW_OUTLINE        1
+#define PRINT_FILE_LINES    0
+#define PRINT_HEIGHT        0
+#define PRINT_SYMBOL        0
+#define PRINT_VALUES        0
+#define PRINT_WIDTH         0
+#define WRAP_AT_16          0
+#define USE_UPPERCASE_A     1
+#define ADD_TRAILING_COMMA  0
+
+typedef struct _ICON_ENTRY {
+    struct _ICON_ENTRY * next;
+    const char * name;
+    int height;
+    const char * height_name;
+    int width;
+    const char * width_name;
+    int bytes_high;
+    int bytes_wide;
+    uint8_t data[];
+} ICON_ENTRY;
+
+int height;
+char * icon_text;
+ICON_ENTRY * icon_list;
+int width;
+
+// Replace CR and LF with zeros
+char *
+terminate_end_of_line (
+    char * text,
+    char * text_end
+    )
+{
+    // Locate the end of line
+    while ((text < text_end) && (*text != '\r') && (*text != '\n'))
+        text++;
+
+    // Skip over the end of line
+    while ((text < text_end) && (*text == '\r') || (*text == '\n'))
+        *text++ = 0;
+
+    // Return the start of the next line
+    return text;
+}
+
+// Skip over white space
+char *
+skip_white_space (
+    char * text,
+    char * text_end
+    )
+{
+    // Locate the first non-white space character
+    while ((text < text_end) && ((*text == ' ') || (*text == '\t')))
+        text++;
+
+    // Return the address of the first non-white space character
+    return text;
+}
+
+// Find the icon name
+char *
+find_icon_data (
+    char * text,
+    char * text_end
+    )
+{
+    // Locate the end of the icon symbol name
+    while ((text < text_end) && (*text != ' ') && (*text != '\t') && (*text != '['))
+        text++;
+
+    // Zero terminate the symbol name
+    if (text < text_end)
+        *text++ = 0;
+
+    // Locate the beginning of the icon data
+    while ((text < text_end) && (*text != '{'))
+        text++;
+
+    // Skip over the left parenthesis
+    if (text < text_end)
+        text++;
+
+    // Return the beginning of the data
+    return skip_white_space (text, text_end);
+}
+
+void
+add_entry (
+    ICON_ENTRY * new_entry
+    )
+{
+    ICON_ENTRY * next_entry;
+
+    if (ALPHABETICAL_ORDER) {
+        // Add to the head of the list
+        if ((icon_list == NULL) || (strcasecmp(icon_list->name, new_entry->name) > 0)) {
+            new_entry->next = icon_list;
+            icon_list = new_entry;
+        } else {
+
+            // Locate the point in the list to insert the new entry
+            next_entry = icon_list;
+            while (next_entry->next && (strcasecmp(next_entry->next->name, new_entry->name) < 0))
+                next_entry = next_entry->next;
+
+            new_entry->next = next_entry->next;
+            next_entry->next = new_entry;
+        }
+    } else {
+        // Add to the head of the list
+        if (icon_list == NULL) {
+            new_entry->next = icon_list;
+            icon_list = new_entry;
+        } else {
+
+            // Locate the point in the list to insert the new entry
+            next_entry = icon_list;
+            while (next_entry->next)
+                next_entry = next_entry->next;
+
+            new_entry->next = next_entry->next;
+            next_entry->next = new_entry;
+        }
+    }
+}
+
+char *
+read_icon_data (
+    char * name,
+    char * height_name,
+    char * width_name,
+    char * text,
+    char * text_end
+    )
+{
+    int bytes_high;
+    int bytes_wide;
+    int data_bytes;
+    ICON_ENTRY * icon_entry;
+    int index;
+    char * number;
+    int value;
+    int x;
+    int y;
+
+    // Allocate the data structure
+    bytes_high = (height + 7) / 8;
+    bytes_wide = width;
+    data_bytes = width * bytes_high;
+    icon_entry = malloc (sizeof(*icon_entry) + data_bytes);
+    if (icon_entry) {
+        icon_entry->name = name;
+        icon_entry->height = height;
+        icon_entry->height_name = height_name;
+        icon_entry->width = width;
+        icon_entry->width_name = width_name;
+        icon_entry->bytes_high = bytes_high;
+        icon_entry->bytes_wide = bytes_wide;
+        add_entry (icon_entry);
+
+        // Read the data bytes
+        for (y = 0; y < bytes_high; y++) {
+            for (x = 0; x < bytes_wide; x++) {
+
+                // Skip any white space
+                while ((text < text_end) && (*text != '0')) {
+                    // Treat comments as white space
+                    if ((*text != '/') || ((text[1] != '/') && (text[1] != '*')))
+                        text++;
+                    else {
+                        // Skip over C++ style comment //
+                        if (text[1] == '/')
+                            while ((*text != '\r') && (*text != '\n'))
+                                text++;
+                        // Skip over the C style comment /* .. */
+                        else {
+                            text += 2;
+                            while ((*text != '*') && (text[1] != '/'))
+                                text++;
+                        }
+                    }
+                }
+
+                // Save the number location
+                number = text;
+
+                // Zero terminate the number
+                while (((*text >= '0') && (*text <= '9'))
+                    || ((*text >= 'a') && (*text <= 'f'))
+                    || ((*text >= 'A') && (*text <= 'F'))
+                    || (*text == 'x') || (*text == 'X'))
+                    text++;
+                *text++ = 0;
+
+                // Get the value
+                sscanf (number, "0x%x", &value);
+
+                // Display the value if requested
+                if (PRINT_VALUES)
+                    printf("0x%02x\r\n", value);
+
+                // Place the value in the array
+                index = (y * bytes_wide) + x;
+                icon_entry->data[index] = value;
+                icon_entry->data[(y * bytes_wide) + x] = value;
+            }
+        }
+    }
+
+    // Skip over the data
+    return text;
+}
+
+const char *
+display_name (
+    ICON_ENTRY * icon
+    )
+{
+    return icon ? icon->name : "NULL";
+}
+
+int
+process_data (
+    int icon_file,
+    ssize_t valid_data
+    )
+{
+    char * data;
+    char * data_end;
+    char * height_name;
+    const char * height_string = "_Height = ";
+    int height_string_length;
+    const char * int_string = "const int ";
+    int int_string_length;
+    char * name;
+    char * next_line;
+    int status;
+    int temp;
+    char * text;
+    const char * uint8_t_string = "const uint8_t ";
+    int uint8_t_string_length;
+    char * width_name;
+    const char * width_string = "_Width = ";
+    int width_string_length;
+
+    data = icon_text;
+    data_end = &data[valid_data];
+    status = -1;
+    height_string_length = strlen (height_string);
+    int_string_length = strlen (int_string);
+    uint8_t_string_length = strlen (uint8_t_string);
+    width_string_length = strlen (width_string);
+    width_name = NULL;
+    height_name = NULL;
+    while (data < data_end) {
+        text = data;
+        next_line = terminate_end_of_line (text, data_end);
+
+        // Display the line if requested
+        if (PRINT_FILE_LINES)
+            printf ("%s\r\n", text);
+
+        // Locate the text at the beginning of the line
+        text = skip_white_space (text, data_end);
+
+        // Determine if this is a width or height line
+        if (strncmp (text, int_string, int_string_length) == 0)
+        {
+            text = skip_white_space (&text[int_string_length], data_end);
+            name = text;
+            while (1) {
+                // Locate the underscore
+                while (*text && (*text != '_'))
+                    text++;
+
+                // Not a width or height line when end of line is reached
+                if (!*text)
+                    break;
+
+                // Determine if this is a height line
+                if (strncmp (text, height_string, height_string_length) == 0)
+                {
+                    // Zero terminate the name
+                    name[&text[height_string_length] - 3 - name] = 0;
+                    height_name = name;
+
+                    // Skip over any additional white space
+                    text = skip_white_space (&text[height_string_length], data_end);
+
+                    // Get the height
+                    if (sscanf (text, "%d", &temp) == 1)
+                    {
+                        height = temp;
+                        if (PRINT_HEIGHT)
+                            printf ("Height: %d\r\n", height);
+                    }
+                    break;
+                }
+
+                // Determine if this is a width line
+                else if (strncmp (text, width_string, width_string_length) == 0)
+                {
+                    // Zero terminate the name
+                    name[&text[width_string_length] - 3 - name] = 0;
+                    width_name = name;
+
+                    // Skip over any additional white space
+                    text = skip_white_space (&text[width_string_length], data_end);
+
+                    // Get the width
+                    if (sscanf (text, "%d", &temp) == 1)
+                    {
+                        width = temp;
+                        if (PRINT_WIDTH)
+                            printf ("Width: %d\r\n", width);
+                    }
+                    break;
+                }
+
+                // Continue the underscore search
+                text++;
+            }
+        }
+
+        // Determine if this is an icon line
+        else if (strncmp (text, uint8_t_string, uint8_t_string_length) == 0)
+        {
+            // Skip over any additional white space
+            text = skip_white_space (&text[uint8_t_string_length], data_end);
+            name = text;
+
+            // Locate the beginning of the data
+            text = find_icon_data (text, data_end);
+
+            // Print the symbol name if requested
+            if (PRINT_SYMBOL)
+                printf ("Symbol: %s\r\n", name);
+
+            // Read the icon data
+            text = read_icon_data (name, height_name, width_name, text, data_end);
+            height_name = NULL;
+            width_name = NULL;
+        }
+
+        // Skip to the next line
+        data = next_line;
+    }
+    if (data >= data_end)
+        status = 0;
+    return status;
+}
+
+void
+display_icon (
+    ICON_ENTRY * icon
+    )
+{
+    int bit;
+    int display_width;
+    const char * indent = "        ";
+    int index;
+    int max_index;
+    int x;
+    int y;
+
+    /*
+        0x20, 0x60, 0xC0, 0xFF, 0xFF, 0xC0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
+
+           **
+           **
+           **
+           **
+           **
+        ** ** **
+         ******
+          ****
+           **
+    */
+
+    printf ("/*\r\n");
+    printf ("    %s [%d, %d]\r\n", icon->name, icon->width, icon->height);
+    printf ("\r\n");
+    if (DRAW_OUTLINE) {
+        if (icon->width > 9) {
+            printf ("%s     ", indent);
+            for (x = 1; x <= icon->width; x++)
+                printf ("%c", (x % 10) ? ' ' : ('0' + (x / 10)));
+            printf ("\r\n");
+        }
+        printf ("%s     ", indent);
+        for (x = 1; x <= icon->width; x++)
+            printf ("%d", x % 10);
+        printf ("\r\n");
+        printf ("%s    .", indent);
+        for (x = 0; x < icon->width; x++)
+            printf ("-");
+        printf (".\r\n");
+    }
+    for (y = 0; y < icon->height; y++) {
+        printf ("%s", indent);
+    if (DRAW_OUTLINE)
+        printf ("0x%02x|", 1 << (y & 7));
+        for (x = 0; x < icon->width; x++) {
+            bit = icon->data[((y >> 3) * icon->bytes_wide) + x];
+            bit >>= y & 7;
+            printf ("%c", (bit & 1) ? '*' : ' ');
+        }
+        if (DRAW_OUTLINE)
+            printf ("|");
+        printf ("\r\n");
+    }
+    if (DRAW_OUTLINE) {
+        printf ("%s    '", indent);
+        for (x = 0; x < icon->width; x++)
+            printf ("-");
+        printf ("'\r\n");
+    }
+    printf ("*/\r\n");
+    printf ("\r\n");
+
+    // Display the symbols if requested
+    if (DISPLAY_VARIABLES) {
+        if (icon->height_name)
+            printf ("const int %s = %d;\r\n", icon->height_name, icon->height);
+        if (icon->width_name)
+            printf ("const int %s = %d;\r\n", icon->width_name, icon->width);
+        printf ("const uint8_t %s [] = {", icon->name);
+        display_width = icon->bytes_wide;
+        if (WRAP_AT_16 || (display_width > 20))
+            display_width = 16;
+        max_index = icon->bytes_high * icon->bytes_wide;
+        for (index = 0; index < max_index; index++) {
+            if ((index % display_width) == 0)
+            printf ("\r\n ");
+            if (USE_UPPERCASE_A)
+                printf (" 0x%02X", icon->data[index]);
+            else
+                printf (" 0x%02x", icon->data[index]);
+            if (index != (max_index - 1))
+                printf (",");
+        }
+        if (ADD_TRAILING_COMMA)
+            printf (",");
+        printf ("\r\n");
+        printf ("};\r\n");
+        printf ("\r\n");
+    }
+}
+
+int
+main (
+    int argc,
+    char ** argv
+    )
+{
+    char * filename;
+    ICON_ENTRY * icon;
+    char * icon_name;
+    int icon_file;
+    off_t file_length;
+    int status;
+    ssize_t valid_data;
+
+    do {
+        // Assume failure
+        icon_file = -1;
+        status = -1;
+
+        // Get the icon name
+        if (argc != 2) {
+            fprintf (stderr, "ERROR - Icon file name not specified!\r\n");
+            break;
+        }
+        filename = argv[1];
+
+        // Open the icon file
+        icon_file = open (filename, O_RDONLY);
+        if (icon_file < 0) {
+            perror("ERROR - File open failed!");
+            break;
+        }
+
+        // Determine the length of the file
+        file_length = lseek (icon_file, 0, SEEK_END);
+
+        // Go the the beginning of the file
+        lseek (icon_file, 0, SEEK_SET);
+
+        // Allocate the buffer
+        icon_text = malloc (file_length + 1);
+        if (!icon_text) {
+            fprintf (stderr, "ERROR - Failed to allocate icon buffer!\r\n");
+            break;
+        }
+
+        // Zero terminate the last line in the file
+        icon_text[file_length] = 0;
+
+        // Fill the buffer
+        valid_data = read(icon_file, icon_text, file_length);
+        if (valid_data < 0) {
+            fprintf (stderr, "ERROR - File read failed!\r\n");
+            break;
+        }
+
+        // Process the data
+        if (valid_data)
+            if (process_data(icon_file, valid_data))
+                break;
+
+        // Display the initial comment
+        if (DISPLAY_COMMENT) {
+            printf ("//Create a bitmap then use http://en.radzio.dxp.pl/bitmap_converter/ to generate output\r\n");
+            printf ("//Make sure the bitmap is n*8 pixels tall (pad white pixels to lower area as needed)\r\n");
+            printf ("//Otherwise the bitmap bitmap_converter will compress some of the bytes together\r\n");
+            printf ("\r\n");
+        }
+
+        // Display the icon names
+        icon = icon_list;
+        while (icon) {
+            display_icon (icon);
+            icon = icon->next;
+        }
+
+        // Indicate success
+        status = 0;
+    } while (0);
+
+    // Close the file
+    if (icon_file >= 0)
+        close(icon_file);
+
+    return status;
+}

From dfc6ac853b8757101cacabdbf1d05ad806b674c2 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Fri, 12 Aug 2022 15:24:36 -1000
Subject: [PATCH 059/134] Update the icon drawings

---
 Firmware/RTK_Surveyor/icons.h | 1286 +++++++++++++++++++++------------
 1 file changed, 828 insertions(+), 458 deletions(-)

diff --git a/Firmware/RTK_Surveyor/icons.h b/Firmware/RTK_Surveyor/icons.h
index 646a5a6cf..bc178b627 100644
--- a/Firmware/RTK_Surveyor/icons.h
+++ b/Firmware/RTK_Surveyor/icons.h
@@ -5,746 +5,1036 @@
 /*
     BT_Symbol [7, 14]
 
-
-           **
-           ***
-        *  * **
-        ** * **
-         *****
-          ***
-          ***
-         *****
-        ** * **
-        *  * **
-           ***
-           **
-
+             1234567
+            .-------.
+        0x01|   *   |
+        0x02|   **  |
+        0x04|   *** |
+        0x08|*  * **|
+        0x10|** * **|
+        0x20| ***** |
+        0x40|  ***  |
+        0x80|  ***  |
+        0x01| ***** |
+        0x02|** * **|
+        0x04|*  * **|
+        0x08|   *** |
+        0x10|   **  |
+        0x20|   *   |
+            '-------'
 */
 
 const int BT_Symbol_Height = 14;
 const int BT_Symbol_Width = 7;
 const uint8_t BT_Symbol [] = {
-  0x18, 0x30, 0xE0, 0xFF, 0xE6, 0x3C, 0x18, 0x06, 0x03, 0x01, 0x3F, 0x19, 0x0F, 0x06,
+  0x18, 0x30, 0xE0, 0xFF, 0xE6, 0x3C, 0x18,
+  0x06, 0x03, 0x01, 0x3F, 0x19, 0x0F, 0x06
 };
 
 /*
-    WiFi_Symbol [13, 9]
-
-           *******
-          *       *
-         *  *****  *
-        *  *     *  *
-          *  ***  *
-            *   *
-
-             ***
-
+    WiFi_Symbol_3 [13, 9]
+
+                      1   
+             1234567890123
+            .-------------.
+        0x01|   *******   |
+        0x02|  *       *  |
+        0x04| *  *****  * |
+        0x08|*  *     *  *|
+        0x10|  *  ***  *  |
+        0x20|    *   *    |
+        0x40|      *      |
+        0x80|     ***     |
+        0x01|      *      |
+            '-------------'
 */
 
 const int WiFi_Symbol_Height = 9;
 const int WiFi_Symbol_Width = 13;
 const uint8_t WiFi_Symbol_3 [] = {
-  0x08, 0x04, 0x12, 0x09, 0x25, 0x95, 0xD5, 0x95, 0x25, 0x09, 0x12, 0x04, 0x08, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x08, 0x04, 0x12, 0x09, 0x25, 0x95, 0xD5, 0x95, 0x25, 0x09, 0x12, 0x04, 0x08,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
+
+/*
+    WiFi_Symbol_2 [13, 9]
+
+                      1   
+             1234567890123
+            .-------------.
+        0x01|             |
+        0x02|             |
+        0x04|    *****    |
+        0x08|   *     *   |
+        0x10|  *  ***  *  |
+        0x20|    *   *    |
+        0x40|      *      |
+        0x80|     ***     |
+        0x01|      *      |
+            '-------------'
+*/
+
 const uint8_t WiFi_Symbol_2 [] = {
-  0x00, 0x00, 0x10, 0x08, 0x24, 0x94, 0xD4, 0x94, 0x24, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x10, 0x08, 0x24, 0x94, 0xD4, 0x94, 0x24, 0x08, 0x10, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
+
+/*
+    WiFi_Symbol_1 [13, 9]
+
+                      1   
+             1234567890123
+            .-------------.
+        0x01|             |
+        0x02|             |
+        0x04|             |
+        0x08|             |
+        0x10|     ***     |
+        0x20|    *   *    |
+        0x40|      *      |
+        0x80|     ***     |
+        0x01|      *      |
+            '-------------'
+*/
+
 const uint8_t WiFi_Symbol_1 [] = {
-  0x00, 0x00, 0x00, 0x00, 0x20, 0x90, 0xD0, 0x90, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x20, 0x90, 0xD0, 0x90, 0x20, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
+
+/*
+    WiFi_Symbol_0 [13, 9]
+
+                      1   
+             1234567890123
+            .-------------.
+        0x01|             |
+        0x02|             |
+        0x04|             |
+        0x08|             |
+        0x10|             |
+        0x20|             |
+        0x40|      *      |
+        0x80|     ***     |
+        0x01|      *      |
+            '-------------'
+*/
+
 const uint8_t WiFi_Symbol_0 [] = {
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
 
 /*
     CrossHair [15, 15]
 
-
-
-            *******
-           *   *   *
-          *    *    *
-          *    *    *
-          *    *    *
-        ******* *******
-          *    *    *
-          *    *    *
-          *    *    *
-           *   *   *
-            *******
-
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|       *       |
+        0x02|       *       |
+        0x04|    *******    |
+        0x08|   *   *   *   |
+        0x10|  *    *    *  |
+        0x20|  *    *    *  |
+        0x40|  *    *    *  |
+        0x80|******* *******|
+        0x01|  *    *    *  |
+        0x02|  *    *    *  |
+        0x04|  *    *    *  |
+        0x08|   *   *   *   |
+        0x10|    *******    |
+        0x20|       *       |
+        0x40|       *       |
+            '---------------'
 */
 
 const int CrossHair_Height = 15;
 const int CrossHair_Width = 15;
 const uint8_t CrossHair [] = {
-  0x80, 0x80, 0xF0, 0x88, 0x84, 0x84, 0x84, 0x7F, 0x84, 0x84, 0x84, 0x88, 0xF0, 0x80, 0x80, 0x00,
-  0x00, 0x07, 0x08, 0x10, 0x10, 0x10, 0x7F, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00, 0x00,
+  0x80, 0x80, 0xF0, 0x88, 0x84, 0x84, 0x84, 0x7F, 0x84, 0x84, 0x84, 0x88, 0xF0, 0x80, 0x80,
+  0x00, 0x00, 0x07, 0x08, 0x10, 0x10, 0x10, 0x7F, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00, 0x00
 };
 
 /*
     CrossHairDual [15, 15]
 
-
-
-            *******
-           *   *   *
-          *  *****  *
-          * *  *  * *
-          * *  *  * *
-        ******* *******
-          * *  *  * *
-          * *  *  * *
-          *  *****  *
-           *   *   *
-            *******
-
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|       *       |
+        0x02|       *       |
+        0x04|    *******    |
+        0x08|   *   *   *   |
+        0x10|  *  *****  *  |
+        0x20|  * *  *  * *  |
+        0x40|  * *  *  * *  |
+        0x80|******* *******|
+        0x01|  * *  *  * *  |
+        0x02|  * *  *  * *  |
+        0x04|  *  *****  *  |
+        0x08|   *   *   *   |
+        0x10|    *******    |
+        0x20|       *       |
+        0x40|       *       |
+            '---------------'
 */
 
 const int CrossHairDual_Height = 15;
 const int CrossHairDual_Width = 15;
 const uint8_t CrossHairDual [] = {
-  0x80, 0x80, 0xF0, 0x88, 0xE4, 0x94, 0x94, 0x7F, 0x94, 0x94, 0xE4, 0x88, 0xF0, 0x80, 0x80, 0x00,
-  0x00, 0x07, 0x08, 0x13, 0x14, 0x14, 0x7F, 0x14, 0x14, 0x13, 0x08, 0x07, 0x00, 0x00,
+  0x80, 0x80, 0xF0, 0x88, 0xE4, 0x94, 0x94, 0x7F, 0x94, 0x94, 0xE4, 0x88, 0xF0, 0x80, 0x80,
+  0x00, 0x00, 0x07, 0x08, 0x13, 0x14, 0x14, 0x7F, 0x14, 0x14, 0x13, 0x08, 0x07, 0x00, 0x00
 };
 
 /*
     SIV_Antenna [12, 13]
 
-
-         **
-         * *
-         *  *   *
-         *   * *
-          *   *
-          *    *
-           *    *
-           **    *
-           ****   *
-           **  ****
-           **
-         ******
+                      1  
+             123456789012
+            .------------.
+        0x01|            |
+        0x02| **         |
+        0x04| * *        |
+        0x08| *  *   *   |
+        0x10| *   * *    |
+        0x20|  *   *     |
+        0x40|  *    *    |
+        0x80|   *    *   |
+        0x01|   **    *  |
+        0x02|   ****   * |
+        0x04|   **  **** |
+        0x08|   **       |
+        0x10| ******     |
+            '------------'
 */
 
 const int SIV_Antenna_Height = 13;
 const int SIV_Antenna_Width = 12;
 const uint8_t SIV_Antenna [] = {
-  0x00, 0x1E, 0x62, 0x84, 0x08, 0x10, 0x20, 0x50, 0x88, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x1F,
-  0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00,
+  0x00, 0x1E, 0x62, 0x84, 0x08, 0x10, 0x20, 0x50, 0x88, 0x00, 0x00, 0x00,
+  0x00, 0x10, 0x10, 0x1F, 0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00
 };
 
 /*
     SIV_Antenna_LBand [12, 13]
 
-
-         **   *
-         * * *
-         *  *   *
-         *   * *
-          *   *   *
-          *    * *
-           *    *
-           **    *
-           ****   *
-           **  ****
-           **
-         ******
+                      1  
+             123456789012
+            .------------.
+        0x01|            |
+        0x02| **   *     |
+        0x04| * * *      |
+        0x08| *  *   *   |
+        0x10| *   * *    |
+        0x20|  *   *   * |
+        0x40|  *    * *  |
+        0x80|   *    *   |
+        0x01|   **    *  |
+        0x02|   ****   * |
+        0x04|   **  **** |
+        0x08|   **       |
+        0x10| ******     |
+            '------------'
 */
 
 const int SIV_Antenna_LBand_Height = 13;
 const int SIV_Antenna_LBand_Width = 12;
 const uint8_t SIV_Antenna_LBand [] = {
-  0x00, 0x1E, 0x62, 0x84, 0x08, 0x14, 0x22, 0x50, 0x88, 0x40, 0x20, 0x00, 0x00, 0x10, 0x10, 0x1F,
-  0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00,
+  0x00, 0x1E, 0x62, 0x84, 0x08, 0x14, 0x22, 0x50, 0x88, 0x40, 0x20, 0x00,
+  0x00, 0x10, 0x10, 0x1F, 0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00
 };
 
 /*
     Rover_Fusion [15, 9]
 
-         *********
-        *         *
-        *    ****  ****
-        *    *        *
-        *    ***      *
-        * ** *     ** *
-         *  *******  *
-         *  *     *  *
-          **       **
+                      1     
+             123456789012345
+            .---------------.
+        0x01| *********     |
+        0x02|*         *    |
+        0x04|*    ****  ****|
+        0x08|*    *        *|
+        0x10|*    ***      *|
+        0x20|* ** *     ** *|
+        0x40| *  *******  * |
+        0x80| *  *     *  * |
+        0x01|  **       **  |
+            '---------------'
 */
 
 const int Rover_Fusion_Height = 9;
 const int Rover_Fusion_Width = 15;
 const uint8_t Rover_Fusion [] = {
-  0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x7D, 0x55, 0x55, 0x45, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C, 0x00,
-  0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00,
+  0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x7D, 0x55, 0x55, 0x45, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C,
+  0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00
 };
 
 /*
     Rover_Fusion_Empty [15, 9]
 
-         *********
-        *         *
-        *          ****
-        *             *
-        *             *
-        * **       ** *
-         *  *******  *
-         *  *     *  *
-          **       **
+                      1     
+             123456789012345
+            .---------------.
+        0x01| *********     |
+        0x02|*         *    |
+        0x04|*          ****|
+        0x08|*             *|
+        0x10|*             *|
+        0x20|* **       ** *|
+        0x40| *  *******  * |
+        0x80| *  *     *  * |
+        0x01|  **       **  |
+            '---------------'
 */
 
 const int Rover_Fusion_Empty_Height = 9;
 const int Rover_Fusion_Empty_Width = 15;
 const uint8_t Rover_Fusion_Empty [] = {
-  0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x41, 0x41, 0x41, 0x41, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C, 0x00,
-  0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00,
+  0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x41, 0x41, 0x41, 0x41, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C,
+  0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00
 };
 
 /*
     BaseTemporary [14, 12]
 
-         ****   ***
-         *  ****** **
-         *  **  **  *
-         *** *    * *
-         ***  **  ***
-         *  * **** **
-         *  **  **  *
-         *****  *** *
-         *   ***   **
-
-
-
+                      1    
+             12345678901234
+            .--------------.
+        0x01| ****   ***   |
+        0x02| *  ****** ** |
+        0x04| *  **  **  * |
+        0x08| *** *    * * |
+        0x10| ***  **  *** |
+        0x20| *  * **** ** |
+        0x40| *  **  **  * |
+        0x80| *****  *** * |
+        0x01| *   ***   ** |
+        0x02| *            |
+        0x04| *            |
+        0x08| *            |
+            '--------------'
 */
 
 const int BaseTemporary_Height = 12;
 const int BaseTemporary_Width = 14;
 const uint8_t BaseTemporary [] = {
-  0x00, 0xFF, 0x99, 0x99, 0xE7, 0xCE, 0x32, 0x32, 0xE7, 0xE7, 0x99, 0x32, 0xFE, 0x00, 0x00, 0x1F,
-  0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00,
+  0x00, 0xFF, 0x99, 0x99, 0xE7, 0xCE, 0x32, 0x32, 0xE7, 0xE7, 0x99, 0x32, 0xFE, 0x00,
+  0x00, 0x1F, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00
 };
 
 /*
     BaseFixed [14, 12]
 
-         *****  *****
-         * * *  * * *
-         * * *  * * *
-         * * **** * *
-         *          *
-         *          *
-         *          *
-         *   ****   *
-         *   *  *   *
-        *    *  *    *
-        *    *  *    *
-        ******  ******
+                      1    
+             12345678901234
+            .--------------.
+        0x01| *****  ***** |
+        0x02| * * *  * * * |
+        0x04| * * *  * * * |
+        0x08| * * **** * * |
+        0x10| *          * |
+        0x20| *          * |
+        0x40| *          * |
+        0x80| *   ****   * |
+        0x01| *   *  *   * |
+        0x02|*    *  *    *|
+        0x04|*    *  *    *|
+        0x08|******  ******|
+            '--------------'
 */
 
 const int BaseFixed_Height = 12;
 const int BaseFixed_Width = 14;
 const uint8_t BaseFixed [] = {
-  0x00, 0xFF, 0x01, 0x0F, 0x01, 0x8F, 0x88, 0x88, 0x8F, 0x01, 0x0F, 0x01, 0xFF, 0x00, 0x0E, 0x09,
-  0x08, 0x08, 0x08, 0x0F, 0x00, 0x00, 0x0F, 0x08, 0x08, 0x08, 0x09, 0x0E,
+  0x00, 0xFF, 0x01, 0x0F, 0x01, 0x8F, 0x88, 0x88, 0x8F, 0x01, 0x0F, 0x01, 0xFF, 0x00,
+  0x0E, 0x09, 0x08, 0x08, 0x08, 0x0F, 0x00, 0x00, 0x0F, 0x08, 0x08, 0x08, 0x09, 0x0E
 };
 
 /*
     Battery_3 [19, 12]
 
-        *****************
-        *               *
-        * ***  ***  *** *
-        * ***  ***  *** ***
-        * ***  ***  ***   *
-        * ***  ***  ***   *
-        * ***  ***  ***   *
-        * ***  ***  ***   *
-        * ***  ***  *** ***
-        * ***  ***  *** *
-        *               *
-        *****************
+                      1         
+             1234567890123456789
+            .-------------------.
+        0x01|*****************  |
+        0x02|*               *  |
+        0x04|* ***  ***  *** *  |
+        0x08|* ***  ***  *** ***|
+        0x10|* ***  ***  ***   *|
+        0x20|* ***  ***  ***   *|
+        0x40|* ***  ***  ***   *|
+        0x80|* ***  ***  ***   *|
+        0x01|* ***  ***  *** ***|
+        0x02|* ***  ***  *** *  |
+        0x04|*               *  |
+        0x08|*****************  |
+            '-------------------'
 */
 
 const int Battery_3_Height = 12;
 const int Battery_3_Width = 19;
 const uint8_t Battery_3 [] = {
-  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01,
-  0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B,
-  0x0B, 0x0B, 0x08, 0x0F, 0x01, 0x01,
+  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x0F, 0x08, 0xF8,
+  0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x0F, 0x01, 0x01
 };
 
 /*
     Battery_2 [19, 12]
 
-        *****************
-        *               *
-        * ***  ***      *
-        * ***  ***      ***
-        * ***  ***        *
-        * ***  ***        *
-        * ***  ***        *
-        * ***  ***        *
-        * ***  ***      ***
-        * ***  ***      *
-        *               *
-        *****************
+                      1         
+             1234567890123456789
+            .-------------------.
+        0x01|*****************  |
+        0x02|*               *  |
+        0x04|* ***  ***      *  |
+        0x08|* ***  ***      ***|
+        0x10|* ***  ***        *|
+        0x20|* ***  ***        *|
+        0x40|* ***  ***        *|
+        0x80|* ***  ***        *|
+        0x01|* ***  ***      ***|
+        0x02|* ***  ***      *  |
+        0x04|*               *  |
+        0x08|*****************  |
+            '-------------------'
 */
 
 const int Battery_2_Height = 12;
 const int Battery_2_Width = 19;
 const uint8_t Battery_2 [] = {
-  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
-  0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08,
-  0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
+  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x0F, 0x08, 0xF8,
+  0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F, 0x01, 0x01
 };
 
 /*
     Battery_1 [19, 12]
 
-        *****************
-        *               *
-        * ***           *
-        * ***           ***
-        * ***             *
-        * ***             *
-        * ***             *
-        * ***             *
-        * ***           ***
-        * ***           *
-        *               *
-        *****************
+                      1         
+             1234567890123456789
+            .-------------------.
+        0x01|*****************  |
+        0x02|*               *  |
+        0x04|* ***           *  |
+        0x08|* ***           ***|
+        0x10|* ***             *|
+        0x20|* ***             *|
+        0x40|* ***             *|
+        0x80|* ***             *|
+        0x01|* ***           ***|
+        0x02|* ***           *  |
+        0x04|*               *  |
+        0x08|*****************  |
+            '-------------------'
 */
 
 const int Battery_1_Height = 12;
 const int Battery_1_Width = 19;
 const uint8_t Battery_1 [] = {
-  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
-  0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
+  0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x0F, 0x08, 0xF8,
+  0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F, 0x01, 0x01
 };
 
 /*
     Battery_0 [19, 12]
 
-        *****************
-        *               *
-        *               *
-        *               ***
-        *                 *
-        *                 *
-        *                 *
-        *                 *
-        *               ***
-        *               *
-        *               *
-        *****************
+                      1         
+             1234567890123456789
+            .-------------------.
+        0x01|*****************  |
+        0x02|*               *  |
+        0x04|*               *  |
+        0x08|*               ***|
+        0x10|*                 *|
+        0x20|*                 *|
+        0x40|*                 *|
+        0x80|*                 *|
+        0x01|*               ***|
+        0x02|*               *  |
+        0x04|*               *  |
+        0x08|*****************  |
+            '-------------------'
 */
 
 const int Battery_0_Height = 12;
 const int Battery_0_Width = 19;
 const uint8_t Battery_0 [] = {
-  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
-  0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
+  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x0F, 0x08, 0xF8,
+  0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F, 0x01, 0x01
 };
 
 /*
     Logging_3 [9, 12]
 
-        *******
-        *     **
-        *      **
-        *       *
-        * ***** *
-        *       *
-        * ***** *
-        *       *
-        * ***** *
-        *       *
-        *       *
-        *********
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|* ***** *|
+        0x20|*       *|
+        0x40|* ***** *|
+        0x80|*       *|
+        0x01|* ***** *|
+        0x02|*       *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
 */
 
 const int Logging_3_Height = 12;
 const int Logging_3_Width = 9;
 const uint8_t Logging_3 [] = {
-  0xFF, 0x01, 0x51, 0x51, 0x51, 0x51, 0x53, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
-  0x08, 0x0F,
+  0xFF, 0x01, 0x51, 0x51, 0x51, 0x51, 0x53, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09, 0x08, 0x0F
 };
 
 /*
     Logging_2 [9, 12]
 
-        *******
-        *     **
-        *      **
-        *       *
-        *       *
-        *       *
-        * ***** *
-        *       *
-        * ***** *
-        *       *
-        *       *
-        *********
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|*       *|
+        0x20|*       *|
+        0x40|* ***** *|
+        0x80|*       *|
+        0x01|* ***** *|
+        0x02|*       *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
 */
 
 const int Logging_2_Height = 12;
 const int Logging_2_Width = 9;
 const uint8_t Logging_2 [] = {
-  0xFF, 0x01, 0x41, 0x41, 0x41, 0x41, 0x43, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
-  0x08, 0x0F,
+  0xFF, 0x01, 0x41, 0x41, 0x41, 0x41, 0x43, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09, 0x08, 0x0F
 };
 
 /*
     Logging_1 [9, 12]
 
-        *******
-        *     **
-        *      **
-        *       *
-        *       *
-        *       *
-        *       *
-        *       *
-        * ***** *
-        *       *
-        *       *
-        *********
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|*       *|
+        0x20|*       *|
+        0x40|*       *|
+        0x80|*       *|
+        0x01|* ***** *|
+        0x02|*       *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
 */
 
 const int Logging_1_Height = 12;
 const int Logging_1_Width = 9;
 const uint8_t Logging_1 [] = {
-  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09,
-  0x08, 0x0F,
+  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x09, 0x09, 0x09, 0x09, 0x08, 0x0F
 };
 
 /*
     Logging_0 [9, 12]
 
-        *******
-        *     **
-        *      **
-        *       *
-        *       *
-        *       *
-        *       *
-        *       *
-        *       *
-        *       *
-        *       *
-        *********
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|*       *|
+        0x20|*       *|
+        0x40|*       *|
+        0x80|*       *|
+        0x01|*       *|
+        0x02|*       *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
 */
 
 const int Logging_0_Height = 12;
 const int Logging_0_Width = 9;
 const uint8_t Logging_0 [] = {
-  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x0F,
+  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F
 };
 
+/*
+    Logging_PPP_3 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|* ****  *|
+        0x10|* *   * *|
+        0x20|* *   * *|
+        0x40|* ****  *|
+        0x80|* *     *|
+        0x01|* *     *|
+        0x02|* *     *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
+
 const uint8_t Logging_PPP_3 [] = {
-  0xFF, 0x01, 0xF9, 0x49, 0x49, 0x49, 0x33, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x0F,
+  0xFF, 0x01, 0xF9, 0x49, 0x49, 0x49, 0x33, 0x06, 0xFC,
+  0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F
 };
+
+/*
+    Logging_PPP_2 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|* *     *|
+        0x10|* *     *|
+        0x20|* *     *|
+        0x40|* ****  *|
+        0x80|* *     *|
+        0x01|* *     *|
+        0x02|* *     *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
+
 const uint8_t Logging_PPP_2 [] = {
-  0xFF, 0x01, 0xF9, 0x41, 0x41, 0x41, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x0F,
+  0xFF, 0x01, 0xF9, 0x41, 0x41, 0x41, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F
 };
+
+/*
+    Logging_PPP_1 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|*       *|
+        0x20|*       *|
+        0x40|* *     *|
+        0x80|* *     *|
+        0x01|* *     *|
+        0x02|* *     *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
+
 const uint8_t Logging_PPP_1 [] = {
-  0xFF, 0x01, 0xC1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08,
-  0x08, 0x0F,
+  0xFF, 0x01, 0xC1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x0F
 };
 
+/*
+    Logging_Custom_3 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*  ***  *|
+        0x10|* *   * *|
+        0x20|* *     *|
+        0x40|* *     *|
+        0x80|* *     *|
+        0x01|* *   * *|
+        0x02|*  ***  *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
+
 const uint8_t Logging_Custom_3 [] = {
-  0xFF, 0x01, 0xF1, 0x09, 0x09, 0x09, 0x13, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
-  0x08, 0x0F,
+  0xFF, 0x01, 0xF1, 0x09, 0x09, 0x09, 0x13, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09, 0x08, 0x0F
 };
+
+/*
+    Logging_Custom_2 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|* *     *|
+        0x20|* *     *|
+        0x40|* *     *|
+        0x80|* *     *|
+        0x01|* *   * *|
+        0x02|*  ***  *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
+
 const uint8_t Logging_Custom_2 [] = {
-  0xFF, 0x01, 0xF1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
-  0x08, 0x0F,
-};
-const uint8_t Logging_Custom_1 [] = {
-  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC, 0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09,
-  0x08, 0x0F,
+  0xFF, 0x01, 0xF1, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09, 0x08, 0x0F
 };
 
+/*
+    Logging_Custom_1 [9, 12]
+
+             123456789
+            .---------.
+        0x01|*******  |
+        0x02|*     ** |
+        0x04|*      **|
+        0x08|*       *|
+        0x10|*       *|
+        0x20|*       *|
+        0x40|*       *|
+        0x80|*       *|
+        0x01|* *   * *|
+        0x02|*  ***  *|
+        0x04|*       *|
+        0x08|*********|
+            '---------'
+*/
 
-
-const int DynamicModel_Height = 12;
-const int DynamicModel_Width = 15;
+const uint8_t Logging_Custom_1 [] = {
+  0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x03, 0x06, 0xFC,
+  0x0F, 0x08, 0x09, 0x0A, 0x0A, 0x0A, 0x09, 0x08, 0x0F
+};
 
 /*
     DynamicModel_1_Portable [15, 12]
 
-               **
-               **
-            ******
-           *      *
-         * * **** * *
-         * * **** * *
-         * *      * *
-         * *      * *
-         * *      * *
-         * *      * *
-           *      *
-            ******
+                      1     
+             123456789012345
+            .---------------.
+        0x01|       **      |
+        0x02|       **      |
+        0x04|    ******     |
+        0x08|   *      *    |
+        0x10| * * **** * *  |
+        0x20| * * **** * *  |
+        0x40| * *      * *  |
+        0x80| * *      * *  |
+        0x01| * *      * *  |
+        0x02| * *      * *  |
+        0x04|   *      *    |
+        0x08|    ******     |
+            '---------------'
 */
 
+const int DynamicModel_Height = 12;
+const int DynamicModel_Width = 15;
 const uint8_t DynamicModel_1_Portable [] = {
-  0x00, 0xF0, 0x00, 0xF8, 0x04, 0x34, 0x34, 0x37, 0x37, 0x04, 0xF8, 0x00, 0xF0, 0x00, 0x00, 0x00,
-  0x03, 0x00, 0x07, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x07, 0x00, 0x03, 0x00, 0x00,
+  0x00, 0xF0, 0x00, 0xF8, 0x04, 0x34, 0x34, 0x37, 0x37, 0x04, 0xF8, 0x00, 0xF0, 0x00, 0x00,
+  0x00, 0x03, 0x00, 0x07, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x07, 0x00, 0x03, 0x00, 0x00
 };
 
 /*
     DynamicModel_2_Stationary [15, 12]
 
-
-            *******
-             *****
-              ***
-
-              ***
-             *****
-            ** * **
-           **  *  **
-          **   *   **
-         **    *    **
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02|    *******    |
+        0x04|     *****     |
+        0x08|      ***      |
+        0x10|       *       |
+        0x20|      ***      |
+        0x40|     *****     |
+        0x80|    ** * **    |
+        0x01|   **  *  **   |
+        0x02|  **   *   **  |
+        0x04| **    *    ** |
+        0x08|               |
+            '---------------'
 */
 
 const uint8_t DynamicModel_2_Stationary [] = {
-  0x00, 0x00, 0x00, 0x00, 0x82, 0xC6, 0x6E, 0xFE, 0x6E, 0xC6, 0x82, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x04, 0x06, 0x03, 0x01, 0x00, 0x00, 0x07, 0x00, 0x00, 0x01, 0x03, 0x06, 0x04, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x82, 0xC6, 0x6E, 0xFE, 0x6E, 0xC6, 0x82, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x04, 0x06, 0x03, 0x01, 0x00, 0x00, 0x07, 0x00, 0x00, 0x01, 0x03, 0x06, 0x04, 0x00
 };
 
 /*
     DynamicModel_3_Pedestrian [15, 12]
 
-              ***
-             *   *
-              * *
-
-             *****
-            ** * **
-               *  *
-              ***
-             ** **
-            **   *
-           **    **
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|      ***      |
+        0x02|     *   *     |
+        0x04|      * *      |
+        0x08|       *       |
+        0x10|     *****     |
+        0x20|    ** * **    |
+        0x40|       *  *    |
+        0x80|      ***      |
+        0x01|     ** **     |
+        0x02|    **   *     |
+        0x04|   **    **    |
+        0x08|               |
+            '---------------'
 */
 
 const uint8_t DynamicModel_3_Pedestrian [] = {
-  0x00, 0x00, 0x00, 0x00, 0x20, 0x32, 0x95, 0xF9, 0x95, 0x32, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x04, 0x06, 0x03, 0x01, 0x00, 0x01, 0x07, 0x04, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x20, 0x32, 0x95, 0xF9, 0x95, 0x32, 0x60, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x04, 0x06, 0x03, 0x01, 0x00, 0x01, 0x07, 0x04, 0x00, 0x00, 0x00, 0x00
 };
 
 /*
     DynamicModel_4_Automotive [15, 12]
 
-
-
-         *********
-        *         *
-        *          ****
-        *             *
-        * **       ** *
-         *  *******  *
-         *  *     *  *
-          **       **
-
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02|               |
+        0x04| *********     |
+        0x08|*         *    |
+        0x10|*          ****|
+        0x20|*             *|
+        0x40|* **       ** *|
+        0x80| *  *******  * |
+        0x01| *  *     *  * |
+        0x02|  **       **  |
+        0x04|               |
+        0x08|               |
+            '---------------'
 */
 
 const uint8_t DynamicModel_4_Automotive [] = {
-  0x78, 0x84, 0x44, 0x44, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x88, 0x50, 0x50, 0x90, 0x70, 0x00,
-  0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00,
+  0x78, 0x84, 0x44, 0x44, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x88, 0x50, 0x50, 0x90, 0x70,
+  0x00, 0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00
 };
 
 /*
     DynamicModel_5_Sea [15, 12]
 
-
-
-           ***
-           * *
-           * *
-         *************
-         **         **
-          *      ** *
-          *         *
-          **       **
-           *********
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02|    *          |
+        0x04|   ***         |
+        0x08|   * *         |
+        0x10|   * *         |
+        0x20| ************* |
+        0x40| **         ** |
+        0x80|  *      ** *  |
+        0x01|  *         *  |
+        0x02|  **       **  |
+        0x04|   *********   |
+        0x08|               |
+            '---------------'
 */
 
 const uint8_t DynamicModel_5_Sea [] = {
-  0x00, 0x60, 0xE0, 0x3C, 0x26, 0x3C, 0x20, 0x20, 0x20, 0xA0, 0xA0, 0x20, 0xE0, 0x60, 0x00, 0x00,
-  0x00, 0x03, 0x06, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x06, 0x03, 0x00, 0x00,
+  0x00, 0x60, 0xE0, 0x3C, 0x26, 0x3C, 0x20, 0x20, 0x20, 0xA0, 0xA0, 0x20, 0xE0, 0x60, 0x00,
+  0x00, 0x00, 0x03, 0x06, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x06, 0x03, 0x00, 0x00
 };
 
 /*
     DynamicModel_6_Airborne1g [15, 12]
 
-
-
-         **
-         ***********
-         * *       **
-         * *     *  **
-         * *         *
-         * *  ***   **
-         ****** *****
-              * *
-              * *
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02| *             |
+        0x04| **            |
+        0x08| ***********   |
+        0x10| * *       **  |
+        0x20| * *     *  ** |
+        0x40| * *         * |
+        0x80| * *  ***   ** |
+        0x01| ****** *****  |
+        0x02|      * *      |
+        0x04|      * *      |
+        0x08|       *       |
+            '---------------'
 */
 
 const uint8_t DynamicModel_6_Airborne1g [] = {
-  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0x88, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
-  0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
+  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0x88, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00,
+  0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00
 };
 
 /*
     DynamicModel_7_Airborne2g [15, 12]
 
-
-
-         **
-         ***********
-         * *       **
-         * *   * *  **
-         * *         *
-         * *  ***   **
-         ****** *****
-              * *
-              * *
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02| *             |
+        0x04| **            |
+        0x08| ***********   |
+        0x10| * *       **  |
+        0x20| * *   * *  ** |
+        0x40| * *         * |
+        0x80| * *  ***   ** |
+        0x01| ****** *****  |
+        0x02|      * *      |
+        0x04|      * *      |
+        0x08|       *       |
+            '---------------'
 */
 
 const uint8_t DynamicModel_7_Airborne2g [] = {
-  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
-  0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
+  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00,
+  0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00
 };
 
 /*
     DynamicModel_8_Airborne4g [15, 12]
 
-
-
-         **
-         ***********
-         * *       **
-         * * * * *  **
-         * *         *
-         * *  ***   **
-         ****** *****
-              * *
-              * *
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02| *             |
+        0x04| **            |
+        0x08| ***********   |
+        0x10| * *       **  |
+        0x20| * * * * *  ** |
+        0x40| * *         * |
+        0x80| * *  ***   ** |
+        0x01| ****** *****  |
+        0x02|      * *      |
+        0x04|      * *      |
+        0x08|       *       |
+            '---------------'
 */
 
 const uint8_t DynamicModel_8_Airborne4g [] = {
-  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x28, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
-  0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00,
+  0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x28, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00,
+  0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00
 };
 
 /*
     DynamicModel_9_Wrist [15, 12]
 
-              ***
-              ***
-              ***
-             *****
-            *     *
-           *       *
-           *  ***  *
-           *       *
-            *     *
-             *****
-              ***
-              ***
+                      1     
+             123456789012345
+            .---------------.
+        0x01|      ***      |
+        0x02|      ***      |
+        0x04|      ***      |
+        0x08|     *****     |
+        0x10|    *     *    |
+        0x20|   *       *   |
+        0x40|   *  ***  *   |
+        0x80|   *       *   |
+        0x01|    *     *    |
+        0x02|     *****     |
+        0x04|      ***      |
+        0x08|      ***      |
+            '---------------'
 */
 
 const uint8_t DynamicModel_9_Wrist [] = {
-  0x00, 0x00, 0x00, 0xE0, 0x10, 0x08, 0x4F, 0x4F, 0x4F, 0x08, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x01, 0x02, 0x1E, 0x1E, 0x1E, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0xE0, 0x10, 0x08, 0x4F, 0x4F, 0x4F, 0x08, 0x10, 0xE0, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x1E, 0x1E, 0x1E, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00
 };
 
 /*
     DynamicModel_10_Bike [15, 12]
 
-
-
-                   **
-                  ***
-           ***    *
-             *   *
-          **  ***  **
-         *  *******  *
-         *  *     *  *
-          **       **
-
-
+                      1     
+             123456789012345
+            .---------------.
+        0x01|               |
+        0x02|               |
+        0x04|           **  |
+        0x08|          ***  |
+        0x10|   ***    *    |
+        0x20|     *   *     |
+        0x40|  **  ***  **  |
+        0x80| *  *******  * |
+        0x01| *  *     *  * |
+        0x02|  **       **  |
+        0x04|               |
+        0x08|               |
+            '---------------'
 */
 
 const uint8_t DynamicModel_10_Bike [] = {
-  0x00, 0x80, 0x40, 0x50, 0x90, 0xB0, 0xC0, 0xC0, 0xC0, 0xA0, 0x98, 0x4C, 0x4C, 0x80, 0x00, 0x00,
-  0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00,
+  0x00, 0x80, 0x40, 0x50, 0x90, 0xB0, 0xC0, 0xC0, 0xC0, 0xA0, 0x98, 0x4C, 0x4C, 0x80, 0x00,
+  0x00, 0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00
 };
 
 /*
     DownloadArrow [8, 9]
 
-           **
-           **
-           **
-           **
-           **
-        ** ** **
-         ******
-          ****
-           **
+             12345678
+            .--------.
+        0x01|   **   |
+        0x02|   **   |
+        0x04|   **   |
+        0x08|   **   |
+        0x10|   **   |
+        0x20|** ** **|
+        0x40| ****** |
+        0x80|  ****  |
+        0x01|   **   |
+            '--------'
 */
 
 const int DownloadArrow_Height = 9;
 const int DownloadArrow_Width = 8;
 const uint8_t DownloadArrow [] = {
-  0x20, 0x60, 0xC0, 0xFF, 0xFF, 0xC0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
+  0x20, 0x60, 0xC0, 0xFF, 0xFF, 0xC0, 0x60, 0x20,
+  0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
 };
 
 /*
     UploadArrow [8, 9]
 
-           **
-          ****
-         ******
-        ** ** **
-           **
-           **
-           **
-           **
-           **
+             12345678
+            .--------.
+        0x01|   **   |
+        0x02|  ****  |
+        0x04| ****** |
+        0x08|** ** **|
+        0x10|   **   |
+        0x20|   **   |
+        0x40|   **   |
+        0x80|   **   |
+        0x01|   **   |
+            '--------'
 */
 
 const int UploadArrow_Height = 9;
 const int UploadArrow_Width = 8;
 const uint8_t UploadArrow [] = {
-  0x08, 0x0C, 0x06, 0xFF, 0xFF, 0x06, 0x0C, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
+  0x08, 0x0C, 0x06, 0xFF, 0xFF, 0x06, 0x0C, 0x08,
+  0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00
 };
 
 /*
     logoSparkFun [64, 48]
 
-                      1         2         3         4         5         6
+                      1         2         3         4         5         6    
              1234567890123456789012345678901234567890123456789012345678901234
             .----------------------------------------------------------------.
         0x01|                            **********                          |
@@ -798,58 +1088,138 @@ const uint8_t UploadArrow [] = {
             '----------------------------------------------------------------'
 */
 
-//SparkFun Electronics LOGO
 const int logoSparkFun_Height = 48;
 const int logoSparkFun_Width = 64;
 const uint8_t logoSparkFun [] = {
-  // ROW0, BYTE0 to BYTE63
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
   0xFF, 0xFF, 0xFF, 0x0F, 0x07, 0x07, 0x06, 0x06, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-  // ROW1, BYTE64 to BYTE127
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x81, 0x07, 0x0F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF,
   0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFC, 0xFC, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFC, 0xF8, 0xE0,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-  // ROW2, BYTE128 to BYTE191
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC,
   0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xF0, 0xFD, 0xFF,
   0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-  // ROW3, BYTE192 to BYTE255
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
   0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
   0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x07, 0x01,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-  // ROW4, BYTE256 to BYTE319
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
   0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x1F, 0x0F, 0x0F, 0x0F, 0x0F,
   0x0F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x07, 0x03, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-  // ROW5, BYTE320 to BYTE383
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF,
   0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
 
+/*
+    ESPNOW_Symbol_3 [8, 13]
+
+             12345678
+            .--------.
+        0x01|    *   |
+        0x02|     *  |
+        0x04|   *  * |
+        0x08|    *  *|
+        0x10|  *  * *|
+        0x20|*  * * *|
+        0x40|** * * *|
+        0x80|*  * * *|
+        0x01|  *  * *|
+        0x02|    *  *|
+        0x04|   *  * |
+        0x08|     *  |
+        0x10|    *   |
+            '--------'
+*/
+
 const int ESPNOW_Symbol_Height = 13;
 const int ESPNOW_Symbol_Width = 8;
 const uint8_t ESPNOW_Symbol_3 [] = {
-  0xE0, 0x40, 0x10, 0xE4, 0x09, 0xF2, 0x04, 0xF8, 0x00, 0x00, 0x01, 0x04, 0x12, 0x09, 0x04, 0x03
+  0xE0, 0x40, 0x10, 0xE4, 0x09, 0xF2, 0x04, 0xF8,
+  0x00, 0x00, 0x01, 0x04, 0x12, 0x09, 0x04, 0x03
 };
+
+/*
+    ESPNOW_Symbol_2 [8, 13]
+
+             12345678
+            .--------.
+        0x01|        |
+        0x02|        |
+        0x04|   *    |
+        0x08|    *   |
+        0x10|  *  *  |
+        0x20|*  * *  |
+        0x40|** * *  |
+        0x80|*  * *  |
+        0x01|  *  *  |
+        0x02|    *   |
+        0x04|   *    |
+        0x08|        |
+        0x10|        |
+            '--------'
+*/
+
 const uint8_t ESPNOW_Symbol_2 [] = {
-  0xE0, 0x40, 0x10, 0xE4, 0x08, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x02, 0x01, 0x00, 0x00
+  0xE0, 0x40, 0x10, 0xE4, 0x08, 0xF0, 0x00, 0x00,
+  0x00, 0x00, 0x01, 0x04, 0x02, 0x01, 0x00, 0x00
 };
+
+/*
+    ESPNOW_Symbol_1 [8, 13]
+
+             12345678
+            .--------.
+        0x01|        |
+        0x02|        |
+        0x04|        |
+        0x08|        |
+        0x10|  *     |
+        0x20|*  *    |
+        0x40|** *    |
+        0x80|*  *    |
+        0x01|  *     |
+        0x02|        |
+        0x04|        |
+        0x08|        |
+        0x10|        |
+            '--------'
+*/
+
 const uint8_t ESPNOW_Symbol_1 [] = {
-  0xE0, 0x40, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00
+  0xE0, 0x40, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00
 };
+
+/*
+    ESPNOW_Symbol_0 [8, 13]
+
+             12345678
+            .--------.
+        0x01|        |
+        0x02|        |
+        0x04|        |
+        0x08|        |
+        0x10|        |
+        0x20|*       |
+        0x40|**      |
+        0x80|*       |
+        0x01|        |
+        0x02|        |
+        0x04|        |
+        0x08|        |
+        0x10|        |
+            '--------'
+*/
+
 const uint8_t ESPNOW_Symbol_0 [] = {
-  0xE0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+  0xE0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
 };
+

From 2f7ea43e77762f5b711df1c7aade83830f5ddf53 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 12 Aug 2022 21:07:41 -0600
Subject: [PATCH 060/134] Add pairing states

---
 Firmware/RTK_Surveyor/Base.ino         |  2 -
 Firmware/RTK_Surveyor/Display.ino      | 17 ++++++---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 51 +++++++++++++++++++-------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  8 ++--
 Firmware/RTK_Surveyor/States.ino       | 38 ++++++++++++++++---
 Firmware/RTK_Surveyor/Tasks.ino        | 19 ++++------
 Firmware/RTK_Surveyor/WiFi.ino         | 18 ++++-----
 Firmware/RTK_Surveyor/menuMain.ino     | 28 ++++++++++----
 Firmware/RTK_Surveyor/settings.h       |  5 ++-
 9 files changed, 127 insertions(+), 59 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index c39615874..41e68589c 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -229,7 +229,5 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
 {
   ntripServerProcessRTCM(incoming);
 
-#ifdef COMPILE_ESPNOW
   espnowProcessRTCM(incoming);
-#endif
 }
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 12245a901..d9669ea37 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -331,8 +331,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
 
-        case (STATE_ESPNOW_PAIR):
-          paintEspNowPair();
+        case (STATE_ESPNOW_PAIRING_NOT_STARTED):
+          paintEspNowPairing();
+          break;
+        case (STATE_ESPNOW_PAIRING):
+          paintEspNowPairing();
           break;
 
         case (STATE_SHUTDOWN):
@@ -2151,7 +2154,7 @@ void paintDisplaySetup()
       printTextCenter("Bubble", 12 * 2, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 3, QW_FONT_8X16, 1, true);
     }
-    else if (setupState == STATE_ESPNOW_PAIR)
+    else if (setupState == STATE_ESPNOW_PAIRING_NOT_STARTED)
     {
       printTextCenter("Base", 12 * 0, QW_FONT_8X16, 1, false);
       printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
@@ -2191,7 +2194,7 @@ void paintDisplaySetup()
       printTextCenter("Bubble", 12 * 2, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 3, QW_FONT_8X16, 1, true);
     }
-    else if (setupState == STATE_ESPNOW_PAIR)
+    else if (setupState == STATE_ESPNOW_PAIRING_NOT_STARTED)
     {
       printTextCenter("Rover", 12 * 0, QW_FONT_8X16, 1, false);
       printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
@@ -2521,7 +2524,11 @@ void paintKeyProvisionFail(uint16_t displayTime)
 }
 
 //Show screen while ESP-Now is pairing
-void paintEspNowPair()
+void paintEspNowPairing()
 {
   displayMessage("ESP-Now Pairing", 0);
 }
+void paintEspNowPaired()
+{
+  displayMessage("ESP-Now Paired", 2000);
+}
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 64b825cec..3029229fc 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -12,7 +12,6 @@
       We don't care if the ESP NOW packet is corrupt or not. RTCM has its own CRC. RTK needs valid RTCM once every
       few seconds so a single dropped frame is not critical.
 */
-#ifdef COMPILE_ESPNOW
 
 //Create a struct for ESP NOW pairing
 typedef struct PairMessage {
@@ -23,6 +22,7 @@ typedef struct PairMessage {
 } PairMessage;
 
 // Callback when data is sent
+#ifdef COMPILE_ESPNOW
 void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 {
   //  Serial.print("Last Packet Send Status: ");
@@ -31,10 +31,12 @@ void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
   //  else
   //    Serial.println("Delivery Fail");
 }
+#endif
 
 // Callback when data is received
 void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int len)
 {
+#ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_PAIRING)
   {
     if (len == sizeof(PairMessage)) //First error check
@@ -66,10 +68,12 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
     espnowIncomingRTCM = true;
     lastEspnowRssiUpdate = millis();
   }
+#endif
 }
 
 // Callback for all RX Packets
 // Get RSSI of all incoming management packets: https://esp32.com/viewtopic.php?t=13889
+#ifdef COMPILE_ESPNOW
 void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
 {
   // All espnow traffic uses action frames which are a subtype of the mgmnt frames so filter out everything else.
@@ -79,11 +83,13 @@ void promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type)
   const wifi_promiscuous_pkt_t *ppkt = (wifi_promiscuous_pkt_t *)buf;
   packetRSSI = ppkt->rx_ctrl.rssi;
 }
+#endif
 
 //If WiFi is already enabled, simply add the LR protocol
 //If the radio is off entirely, start the radio, turn on only the LR protocol
 void espnowStart()
 {
+#ifdef COMPILE_ESPNOW
   if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Radio is off, turn it on
@@ -97,21 +103,19 @@ void espnowStart()
     //Enable WiFi + ESP-Now
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
-    Serial.println("Wi-Fi on, ESP-Now added to protocols");
+    Serial.println("WiFi on, ESP-Now added to protocols");
   }
   //If ESP-Now is active, WiFi is active, do nothing
   else
   {
-    Serial.println("Wi-Fi already on, ESP-Now already on");
+    Serial.println("WiFi already on, ESP-Now already on");
   }
 
   // Init ESP-NOW
   if (esp_now_init() != ESP_OK) {
-    Serial.println("Error initializing ESP-NOW");
+    Serial.println("Error starting ESP-Now");
     return;
   }
-  else
-    Serial.println("ESP-NOW Initialized");
 
   // Use promiscuous callback to capture RSSI of packet
   esp_wifi_set_promiscuous(true);
@@ -143,12 +147,16 @@ void espnowStart()
       }
     }
   }
+
+  Serial.println("ESP-Now Started");
+#endif
 }
 
 //If WiFi is already enabled, simply remove the LR protocol
 //If WiFi is off, stop the radio entirely
 void espnowStop()
 {
+#ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_OFF) return;
 
   if (wifiState == WIFI_OFF)
@@ -178,10 +186,8 @@ void espnowStop()
     Serial.println("Error deinitializing ESP-NOW");
     return;
   }
-
+#endif
   espnowSetState(ESPNOW_OFF);
-
-  Serial.println("ESP NOW Off");
 }
 
 //Start ESP-Now if needed, put ESP-Now into broadcast state
@@ -199,9 +205,11 @@ void espnowBeginPairing()
 //Regularly call during pairing to see if we've received a Pairing message
 bool espnowIsPaired()
 {
+#ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_MAC_RECEIVED)
   {
     //Remove broadcast peer
+    uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
     espnowRemovePeer(broadcastMac);
 
     if (esp_now_is_peer_exist(receivedMAC) == true)
@@ -221,15 +229,16 @@ bool espnowIsPaired()
     espnowSendPairMessage(receivedMAC);
 
     espnowSetState(ESPNOW_PAIRED);
-    Serial.println("Pairing compete");
-    return(true);
+    return (true);
   }
-  return(false);
+#endif
+  return (false);
 }
 
 //Create special pair packet to a given MAC
 esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
 {
+#ifdef COMPILE_ESPNOW
   // Assemble message to send
   PairMessage pairMessage;
 
@@ -245,6 +254,9 @@ esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
     pairMessage.crc += unitMACAddress[x];
 
   return (esp_now_send(sendToMac, (uint8_t *) &pairMessage, sizeof(pairMessage))); //Send packet to given MAC
+#else
+  return (ESP_OK);
+#endif
 }
 
 //Add a given MAC address to the peer list
@@ -255,6 +267,7 @@ esp_err_t espnowAddPeer(uint8_t *peerMac)
 
 esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
 {
+#ifdef COMPILE_ESPNOW
   esp_now_peer_info_t peerInfo;
 
   memcpy(peerInfo.peer_addr, peerMac, 6);
@@ -268,15 +281,23 @@ esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
   if (result != ESP_OK)
     log_d("Failed to add peer");
   return (result);
+#else
+  return (ESP_OK);
+#endif
 }
 
 //Remove a given MAC address from the peer list
 esp_err_t espnowRemovePeer(uint8_t *peerMac)
 {
+#ifdef COMPILE_ESPNOW
   esp_err_t result = esp_now_del_peer(peerMac);
   if (result != ESP_OK)
     log_d("Failed to remove peer");
   return (result);
+#else
+  return (ESP_OK);
+#endif
+
 }
 
 //Update the state of the ESP Now state machine
@@ -285,6 +306,8 @@ void espnowSetState(ESPNOWState newState)
   if (espnowState == newState)
     Serial.print("*");
   espnowState = newState;
+
+  Serial.print("espnowState: ");
   switch (newState)
   {
     case ESPNOW_OFF:
@@ -310,6 +333,7 @@ void espnowSetState(ESPNOWState newState)
 
 void espnowProcessRTCM(byte incoming)
 {
+#ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_PAIRED)
   {
     //Move this byte into ESP NOW to send buffer
@@ -326,6 +350,5 @@ void espnowProcessRTCM(byte incoming)
       espnowOutgoingRTCM = true;
     }
   }
+#endif
 }
-
-#endif //ifdef COMPILE_ESPNOW
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 37f205d1b..ba88d8b7f 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,10 +26,10 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-#define COMPILE_BT //Comment out to remove Bluetooth functionality
-#define COMPILE_AP //Comment out to remove Access Point functionality
-#define COMPILE_L_BAND //Comment out to remove L-Band functionality
-#define COMPILE_ESPNOW //Comment out to remove ESP-Now functionality
+//#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
+//#define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
+//#define COMPILE_BT //Comment out to remove Bluetooth functionality
+//#define COMPILE_L_BAND //Comment out to remove L-Band functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 3a55051cf..d8043d4fe 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -240,7 +240,7 @@ void updateSystemState()
 
           bluetoothStop();
           bluetoothStart(); //Restart Bluetooth with 'Base' identifier
-          
+
           startUART2Tasks(); //Start monitoring the UART1 from ZED for NMEA and UBX data (enables logging)
 
           if (configureUbloxModuleBase() == true)
@@ -900,12 +900,35 @@ void updateSystemState()
         break;
 #endif  //COMPILE_L_BAND
 
-      case (STATE_ESPNOW_PAIR):
+      case (STATE_ESPNOW_PAIRING_NOT_STARTED):
         {
+#ifdef COMPILE_ESPNOW
+          paintEspNowPairing();
 
-espnowIsPaired()
+          //Start ESP-Now if needed, put ESP-Now into broadcast state
+          espnowBeginPairing();
 
-          //Display 'ESP-Now Pairing' while we wait
+          changeState(STATE_ESPNOW_PAIRING);
+#else
+          changeState(STATE_ROVER_NOT_STARTED);
+#endif
+        }
+        break;
+
+      case (STATE_ESPNOW_PAIRING):
+        {
+#ifdef COMPILE_ESPNOW
+          if (espnowIsPaired() == true)
+          {
+            paintEspNowPaired();
+            changeState(STATE_ROVER_NOT_STARTED);
+          }
+          else
+          {
+            uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+            espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
+          }
+#endif
         }
         break;
 
@@ -1051,8 +1074,11 @@ void changeState(SystemState newState)
         break;
 #endif  //COMPILE_L_BAND
 
-      case (STATE_ESPNOW_PAIR):
-        Serial.print("State: ESP-Now Pair");
+      case (STATE_ESPNOW_PAIRING_NOT_STARTED):
+        Serial.print("State: ESP-Now Pairing Not Started");
+        break;
+      case (STATE_ESPNOW_PAIRING):
+        Serial.print("State: ESP-Now Pairing");
         break;
 
       case (STATE_SHUTDOWN):
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 44e5122f8..6e44c7fac 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -412,7 +412,8 @@ void ButtonCheckTask(void *e)
           case STATE_BUBBLE_LEVEL:
           case STATE_WIFI_CONFIG_NOT_STARTED:
           case STATE_WIFI_CONFIG:
-          case STATE_ESPNOW_PAIR:
+          case STATE_ESPNOW_PAIRING_NOT_STARTED:
+          case STATE_ESPNOW_PAIRING:
             lastSystemState = systemState; //Remember this state to return after we mark an event
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
@@ -464,9 +465,9 @@ void ButtonCheckTask(void *e)
                 setupState = STATE_WIFI_CONFIG_NOT_STARTED;
                 break;
               case STATE_WIFI_CONFIG_NOT_STARTED:
-                setupState = STATE_ESPNOW_PAIR;
+                setupState = STATE_ESPNOW_PAIRING_NOT_STARTED;
                 break;
-              case STATE_ESPNOW_PAIR:
+              case STATE_ESPNOW_PAIRING_NOT_STARTED:
                 //If only one active profile do not show any profiles
                 index = getProfileNumberFromUnit(0);
                 displayProfile = getProfileNumberFromUnit(1);
@@ -531,7 +532,8 @@ void ButtonCheckTask(void *e)
           case STATE_BUBBLE_LEVEL:
           case STATE_WIFI_CONFIG_NOT_STARTED:
           case STATE_WIFI_CONFIG:
-          case STATE_ESPNOW_PAIR:
+          case STATE_ESPNOW_PAIRING_NOT_STARTED:
+          case STATE_ESPNOW_PAIRING:
             lastSystemState = systemState; //Remember this state to return after we mark an event
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
@@ -583,9 +585,9 @@ void ButtonCheckTask(void *e)
                 setupState = STATE_WIFI_CONFIG_NOT_STARTED;
                 break;
               case STATE_WIFI_CONFIG_NOT_STARTED:
-                setupState = STATE_ESPNOW_PAIR;
+                setupState = STATE_ESPNOW_PAIRING_NOT_STARTED;
                 break;
-              case STATE_ESPNOW_PAIR:
+              case STATE_ESPNOW_PAIRING_NOT_STARTED:
                 //If only one active profile do not show any profiles
                 index = getProfileNumberFromUnit(0);
                 displayProfile = getProfileNumberFromUnit(1);
@@ -618,11 +620,6 @@ void ButtonCheckTask(void *e)
   }
 }
 
-TODO once a user has selected 'Pair', send this once
-  //Start ESP-Now if needed, put ESP-Now into broadcast state
-  espnowBeginPairing();
-
-
 void idleTask(void *e)
 {
   int cpu = xPortGetCoreID();
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index a4895f6f6..96c882669 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -153,13 +153,13 @@ void wifiStartAP()
 #endif
 
   WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
-  Serial.print("Wi-Fi connecting to");
+  Serial.print("WiFi connecting to");
   while (wifiGetStatus() != WL_CONNECTED)
   {
     Serial.print(".");
     delay(500);
   }
-  Serial.print("Wi-Fi connected with IP: ");
+  Serial.print("WiFi connected with IP: ");
   Serial.println(WiFi.localIP());
 #else   //LOCAL_WIFI_TESTING
   //Start in AP mode
@@ -177,10 +177,10 @@ void wifiStartAP()
   WiFi.softAPConfig(local_IP, gateway, subnet);
   if (WiFi.softAP("RTK Config") == false) //Must be short enough to fit OLED Width
   {
-    Serial.println("Wi-Fi AP failed to start");
+    Serial.println("WiFi AP failed to start");
     return;
   }
-  Serial.print("Wi-Fi AP Started with IP: ");
+  Serial.print("WiFi AP Started with IP: ");
   Serial.println(WiFi.softAPIP());
 #endif  //LOCAL_WIFI_TESTING
 }
@@ -197,7 +197,7 @@ bool wifiConnectionTimeout()
 #ifdef  COMPILE_WIFI
   if ((millis() - wifiTimer) <= WIFI_CONNECTION_TIMEOUT)
     return false;
-  Serial.println("Wi-Fi connection timeout!");
+  Serial.println("WiFi connection timeout!");
 #endif  //COMPILE_WIFI
   return true;
 }
@@ -221,7 +221,7 @@ void wifiStart(char* ssid, char* pw)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
 #endif
 
-    Serial.printf("Wi-Fi connecting to %s\r\n", ssid);
+    Serial.printf("WiFi connecting to %s\r\n", ssid);
     WiFi.begin(ssid, pw);
     wifiTimer = millis();
     wifiSetState(WIFI_NOTCONNECTED);
@@ -251,7 +251,7 @@ void wifiStop()
   {
     WiFi.mode(WIFI_OFF);
     wifiSetState(WIFI_OFF);
-    Serial.println("Wi-Fi Stopped");
+    Serial.println("WiFi Stopped");
   }
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
@@ -263,13 +263,13 @@ void wifiStop()
 
     wifiSetState(WIFI_OFF);
 
-    Serial.println("Wi-Fi disabled, ESP-Now left in place");
+    Serial.println("WiFi disabled, ESP-Now left in place");
   }
 #else
   //Turn off radio
   WiFi.mode(WIFI_OFF);
   wifiSetState(WIFI_OFF);
-  Serial.println("Wi-Fi Stopped");
+  Serial.println("WiFi Stopped");
 #endif
 
   //Display the heap state
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 5460fa34c..480255596 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -362,23 +362,34 @@ void menuRadio()
       Serial.println("Begin pairing. Place other unit in pairing mode. Press any key to exit.");
       while (Serial.available()) Serial.read();
 
-      while (1)
+      uint8_t broadcastMac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+
+      bool exitPair = false;
+      while (exitPair == false)
       {
-        if (Serial.available()) break;
+        if (Serial.available())
+        {
+          Serial.println("User pressed button. Pairing canceled.");
+          break;
+        }
 
         int timeout = 1000 + random(0, 100); //Delay 1000 to 1100ms
         for (int x = 0 ; x < timeout ; x++)
         {
           delay(1);
-          if (espnowIsPaired()) break; //Check if we've received a pairing message
+
+          if (espnowIsPaired() == true) //Check if we've received a pairing message
+          {
+            Serial.println("Pairing compete");
+            exitPair = true;
+            break;
+          }
         }
 
         espnowSendPairMessage(broadcastMac); //Send unit's MAC address over broadcast, no ack, no encryption
 
         Serial.println("Scanning for other radio...");
       }
-
-      Serial.println("User pressed button. Pairing canceled.");
     }
     else if (settings.radioType == RADIO_ESPNOW && incoming == 3)
     {
@@ -386,8 +397,11 @@ void menuRadio()
       byte bContinue = getByteChoice(menuTimeout);
       if (bContinue == 'y')
       {
-        for (int x = 0 ; x < settings.espnowPeerCount ; x++)
-          espnowRemovePeer(settings.espnowPeers[x]);
+        if (espnowState > ESPNOW_OFF)
+        {
+          for (int x = 0 ; x < settings.espnowPeerCount ; x++)
+            espnowRemovePeer(settings.espnowPeers[x]);
+        }
         settings.espnowPeerCount = 0;
         Serial.println("Radios forgotten");
       }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 6da21e836..893ca13be 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -33,7 +33,8 @@ typedef enum
   STATE_KEYS_PROVISION_WIFI_STARTED,
   STATE_KEYS_PROVISION_WIFI_CONNECTED,
   STATE_KEYS_PROVISION_WIFI_TIMEOUT,
-  STATE_ESPNOW_PAIR,
+  STATE_ESPNOW_PAIRING_NOT_STARTED,
+  STATE_ESPNOW_PAIRING,
   STATE_SHUTDOWN,
 } SystemState;
 volatile SystemState systemState = STATE_ROVER_NOT_STARTED;
@@ -487,6 +488,7 @@ struct struct_online {
 } online;
 
 #ifdef COMPILE_WIFI
+#ifdef COMPILE_L_BAND
 //AWS certificate for PointPerfect API
 static const char *AWS_PUBLIC_CERT = R"=====(
 -----BEGIN CERTIFICATE-----
@@ -511,3 +513,4 @@ rqXRfboQnoZsG4q5WTP468SQvvG5
 -----END CERTIFICATE-----
 )=====";
 #endif
+#endif

From d0803284547ee3ff3f072da04439982d880a0bb7 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 13 Aug 2022 14:19:10 -0600
Subject: [PATCH 061/134] Fix L_Band compile guard

---
 Firmware/RTK_Surveyor/Form.ino         | 2 ++
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 6 +++---
 Firmware/RTK_Surveyor/States.ino       | 3 +--
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index bffdd2ec0..d4036c292 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -387,8 +387,10 @@ void createSettingsString(char* settingsCSV)
   char apDaysRemaining[20];
   if (strlen(settings.pointPerfectCurrentKey) > 0)
   {
+#ifdef COMPILE_L_BAND
     uint8_t daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
     sprintf(apDaysRemaining, "%d", daysRemaining);
+#endif
   }
   else
     sprintf(apDaysRemaining, "No Keys");
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index ba88d8b7f..42343e7fb 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -27,9 +27,9 @@ const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
 //#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
-//#define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
-//#define COMPILE_BT //Comment out to remove Bluetooth functionality
-//#define COMPILE_L_BAND //Comment out to remove L-Band functionality
+#define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
+#define COMPILE_BT //Comment out to remove Bluetooth functionality
+#define COMPILE_L_BAND //Comment out to remove L-Band functionality
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index d8043d4fe..417d1b2c6 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -596,9 +596,8 @@ void updateSystemState()
           displayWiFiConfigNotStarted(); //Display immediately during SD cluster pause
 
           bluetoothStop();
-#ifdef COMPILE_ESPNOW
           espnowStop();
-#endif
+
           stopUART2Tasks(); //Delete F9 serial tasks if running
           startWebServer(); //Start in AP mode and show config html page
 

From 5c50fa78826be966d7e3f3c9f0f465519bf074a8 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 13 Aug 2022 15:35:24 -0600
Subject: [PATCH 062/134] Change menu name to E-Pair

Differentiate this radio from other future radios
---
 Firmware/RTK_Surveyor/Display.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index d9669ea37..53683b2bb 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2159,7 +2159,7 @@ void paintDisplaySetup()
       printTextCenter("Base", 12 * 0, QW_FONT_8X16, 1, false);
       printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 2, QW_FONT_8X16, 1, false);
-      printTextCenter("Pair", 12 * 3, QW_FONT_8X16, 1, true);
+      printTextCenter("E-Pair", 12 * 3, QW_FONT_8X16, 1, true);
     }
     else if (setupState == STATE_PROFILE)
       paintDisplaySetupProfile("Base");
@@ -2199,7 +2199,7 @@ void paintDisplaySetup()
       printTextCenter("Rover", 12 * 0, QW_FONT_8X16, 1, false);
       printTextCenter("Bubble", 12 * 1, QW_FONT_8X16, 1, false);
       printTextCenter("Config", 12 * 2, QW_FONT_8X16, 1, false);
-      printTextCenter("Pair", 12 * 3, QW_FONT_8X16, 1, true);
+      printTextCenter("E-Pair", 12 * 3, QW_FONT_8X16, 1, true);
     }
     else if (setupState == STATE_PROFILE)
       paintDisplaySetupProfile("Rover");

From eb3e4e5d586eff7c58d4a3aa251ed6d5e18f685b Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 13 Aug 2022 21:45:51 -0600
Subject: [PATCH 063/134] Malloc large arrays to free RAM.

Move large arrays to reduce RAM footprint. This allowed WiFi casting to work when all subsystems are compiled.
Fix WiFi subnet
---
 Firmware/RTK_Surveyor/Form.ino         | 4 +++-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 8 ++++----
 Firmware/RTK_Surveyor/States.ino       | 2 +-
 Firmware/RTK_Surveyor/WiFi.ino         | 4 ++--
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index d4036c292..72b3a2d09 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -33,8 +33,10 @@ void startWebServer()
   ntripClientStop(true);
   wifiStartAP();
 
+  incomingSettings = (char*)malloc(AP_CONFIG_SETTING_SIZE);
+
   //Clear any garbage from settings array
-  memset(incomingSettings, 0, sizeof(incomingSettings));
+  memset(incomingSettings, 0, AP_CONFIG_SETTING_SIZE);
 
   ws.onEvent(onWsEvent);
   server.addHandler(&ws);
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 865878b2c..594ab03a7 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -26,7 +26,7 @@ const int FIRMWARE_VERSION_MAJOR = 2;
 const int FIRMWARE_VERSION_MINOR = 4;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
-//#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
+#define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
 #define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_L_BAND //Comment out to remove L-Band functionality
@@ -159,8 +159,8 @@ LoggingType loggingType = LOGGING_UNKNOWN;
 
 #endif
 
-char certificateContents[2000]; //Holds the contents of the keys prior to MQTT connection
-char keyContents[2000];
+char *certificateContents; //Holds the contents of the keys prior to MQTT connection
+char *keyContents;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //GNSS configuration
@@ -328,7 +328,7 @@ AsyncWebSocket ws("/ws");
 //Because the incoming string is longer than max len, there are multiple callbacks so we
 //use a global to combine the incoming
 #define AP_CONFIG_SETTING_SIZE 5000
-char incomingSettings[AP_CONFIG_SETTING_SIZE];
+char *incomingSettings;
 int incomingSettingsSpot = 0;
 unsigned long timeSinceLastIncomingSetting = 0;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 417d1b2c6..75d34f54b 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -622,7 +622,7 @@ void updateSystemState()
 
               //Clear buffer
               incomingSettingsSpot = 0;
-              memset(incomingSettings, 0, sizeof(incomingSettings));
+              memset(incomingSettings, 0, AP_CONFIG_SETTING_SIZE);
             }
           }
         }
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 96c882669..e146ae3ab 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -167,12 +167,12 @@ void wifiStartAP()
 
 #ifdef COMPILE_ESPNOW
   // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
-  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+  esp_wifi_set_protocol(WIFI_IF_AP, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
 #endif
 
   IPAddress local_IP(192, 168, 4, 1);
   IPAddress gateway(192, 168, 1, 1);
-  IPAddress subnet(255, 255, 0, 0);
+  IPAddress subnet(255, 255, 255, 0);
 
   WiFi.softAPConfig(local_IP, gateway, subnet);
   if (WiFi.softAP("RTK Config") == false) //Must be short enough to fit OLED Width

From 95e26efd4e6e212f70b3f644ebbd6b35ef0c1ea2 Mon Sep 17 00:00:00 2001
From: burnsed <rburns@stic.net>
Date: Tue, 19 Jul 2022 15:35:15 -0700
Subject: [PATCH 064/134] Add BLE Support. See setting menu to enable

---
 Firmware/RTK_Surveyor/Begin.ino               |   2 +-
 Firmware/RTK_Surveyor/Bluetooth.ino           |  33 ++--
 Firmware/RTK_Surveyor/NVM.ino                 |   3 +
 Firmware/RTK_Surveyor/RTK_Surveyor.ino        |  10 +-
 Firmware/RTK_Surveyor/bluetoothSelect.h       | 161 +++++++++++++++
 Firmware/RTK_Surveyor/menuBluetooth.ino       |  45 +++++
 Firmware/RTK_Surveyor/menuMain.ino            |   4 +
 Firmware/RTK_Surveyor/settings.h              |   2 +
 .../RTK_Surveyor/src/BleSerial/BleSerial.cpp  | 184 ++++++++++++++++++
 .../RTK_Surveyor/src/BleSerial/BleSerial.h    |  76 ++++++++
 .../src/BleSerial/ByteRingBuffer.h            |  45 +++++
 11 files changed, 550 insertions(+), 15 deletions(-)
 create mode 100644 Firmware/RTK_Surveyor/bluetoothSelect.h
 create mode 100644 Firmware/RTK_Surveyor/menuBluetooth.ino
 create mode 100644 Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
 create mode 100644 Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
 create mode 100644 Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index f64b9c2c0..e1aa45311 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -338,7 +338,7 @@ void pinUART2Task( void *pvParameters )
   vTaskDelete( NULL ); //Delete task once it has run once
 }
 
-//Serial Read/Write tasks for the F9P must be started after BT is up and running otherwise SerialBT.available will cause reboot
+//Serial Read/Write tasks for the F9P must be started after BT is up and running otherwise SerialBT->available will cause reboot
 void startUART2Tasks()
 {
   //Start the tasks for handling incoming and outgoing BT bytes to/from ZED-F9P
diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 07d6659df..d56d381cd 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -28,8 +28,7 @@ Bluetooth States:
 //----------------------------------------
 
 #ifdef  COMPILE_BT
-
-static BluetoothSerial bluetoothSerial;
+BTSerialInterface *bluetoothSerial;
 static volatile byte bluetoothState = BT_OFF;
 
 //----------------------------------------
@@ -74,7 +73,7 @@ byte bluetoothGetState()
 bool bluetoothIsCongested()
 {
 #ifdef COMPILE_BT
-  return bluetoothSerial.isCongested();
+  return bluetoothSerial->isCongested();
 #else   //COMPILE_BT
   return false;
 #endif  //COMPILE_BT
@@ -84,7 +83,7 @@ bool bluetoothIsCongested()
 int bluetoothReadBytes(uint8_t * buffer, int length)
 {
 #ifdef COMPILE_BT
-  return bluetoothSerial.readBytes(buffer, length);
+  return bluetoothSerial->readBytes(buffer, length);
 #else   //COMPILE_BT
   return 0;
 #endif  //COMPILE_BT
@@ -94,7 +93,7 @@ int bluetoothReadBytes(uint8_t * buffer, int length)
 bool bluetoothRxDataAvailable()
 {
 #ifdef COMPILE_BT
-  return bluetoothSerial.available();
+  return bluetoothSerial->available();
 #else   //COMPILE_BT
   return false;
 #endif  //COMPILE_BT
@@ -116,7 +115,15 @@ void bluetoothStart()
 
     sprintf(deviceName, "%s %s%02X%02X", platformPrefix, stateName, unitMACAddress[4], unitMACAddress[5]);
 
-    if (bluetoothSerial.begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
+    // BLE vs Bluetooth Classic
+    if (settings.enableBLE)
+      bluetoothSerial = new BTLESerial();
+    else
+    {
+      bluetoothSerial = new BTClassicSerial();
+    }
+
+    if (bluetoothSerial->begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
     {
       Serial.println("An error occurred initializing Bluetooth");
 
@@ -145,8 +152,8 @@ void bluetoothStart()
     esp_bt_gap_set_pin(pin_type, 4, pin_code);
     //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
-    bluetoothSerial.register_callback(bluetoothCallback); //Controls BT Status LED on Surveyor
-    bluetoothSerial.setTimeout(250);
+    bluetoothSerial->register_callback(bluetoothCallback); //Controls BT Status LED on Surveyor
+    bluetoothSerial->setTimeout(250);
 
     Serial.print("Bluetooth broadcasting as: ");
     Serial.println(deviceName);
@@ -172,10 +179,10 @@ void bluetoothStop()
 #ifdef COMPILE_BT
   if (bluetoothState == BT_NOTCONNECTED || bluetoothState == BT_CONNECTED)
   {
-    bluetoothSerial.register_callback(NULL);
-    bluetoothSerial.flush(); //Complete any transfers
-    bluetoothSerial.disconnect(); //Drop any clients
-    bluetoothSerial.end(); //bluetoothSerial.end() will release significant RAM (~100k!) but a bluetoothSerial.start will crash.
+    bluetoothSerial->register_callback(NULL);
+    bluetoothSerial->flush(); //Complete any transfers
+    bluetoothSerial->disconnect(); //Drop any clients
+    bluetoothSerial->end(); //bluetoothSerial->end() will release significant RAM (~100k!) but a bluetoothSerial->start will crash.
 
     log_d("Bluetooth turned off");
 
@@ -191,7 +198,7 @@ int bluetoothWriteBytes(const uint8_t * buffer, int length)
 {
 #ifdef COMPILE_BT
   //Push new data to BT SPP
-  return bluetoothSerial.write(buffer, length);
+  return bluetoothSerial->write(buffer, length);
 #else   //COMPILE_BT
   return 0;
 #endif  //COMPILE_BT
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 734cc3c14..cf2c3d6d6 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -267,6 +267,7 @@ void recordSystemSettingsToFile(File * settingsFile)
   }
   settingsFile->printf("%s=%d\n\r", "espnowPeerCount", settings.espnowPeerCount);
   settingsFile->printf("%s=%d\n\r", "enableNtripServerMessageParsing", settings.enableNtripServerMessageParsing);
+  settingsFile->printf("%s=%d\n\r", "enableBLE", settings.enableBLE);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -875,6 +876,8 @@ bool parseLine(char* str, Settings *settings)
     settings->espnowPeerCount = d;
   else if (strcmp(settingName, "enableNtripServerMessageParsing") == 0)
     settings->enableNtripServerMessageParsing = d;
+  else if (strcmp(settingName, "enableBLE") == 0)
+    settings->enableBLE = d;
 
   //Check for bulk settings (constellations, message rates, ESPNOW Peers)
   //Must be last on else list
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 594ab03a7..ee76c394e 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -242,8 +242,16 @@ float battChangeRate = 0.0;
 //Hardware serial and BT buffers
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 #ifdef COMPILE_BT
+// See bluetoothSelect.h for implemenation
+#include "bluetoothSelect.h"
+
 //We use a local copy of the BluetoothSerial library so that we can increase the RX buffer. See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/23
-#include "src/BluetoothSerial/BluetoothSerial.h"
+// #include "src/BluetoothSerial/BluetoothSerial.h"
+// BluetoothSerial SerialBT;
+
+// BLE Support originally from https://github.com/avinabmalla/ESP32_BleSerial/tree/bad5ff841800853a61e431ea751f8ea9d7a1df21
+// #include "src/BleSerial/BleSerial.h"
+// BleSerial SerialBLE;
 #endif
 
 char platformPrefix[55] = "Surveyor"; //Sets the prefix for broadcast names
diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
new file mode 100644
index 000000000..af708a904
--- /dev/null
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -0,0 +1,161 @@
+#ifdef COMPILE_BT
+
+#include "src/BluetoothSerial/BluetoothSerial.h"
+#include "src/BleSerial/BleSerial.h"
+
+class BTSerialInterface
+{
+    public:
+        virtual bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize) = 0;
+        virtual void disconnect() = 0;
+        virtual void end() = 0;
+        virtual esp_err_t register_callback(esp_spp_cb_t * callback) = 0;
+        virtual void setTimeout(unsigned long timeout) = 0;
+ 
+        virtual int available() = 0;
+        virtual size_t readBytes(uint8_t *buffer, size_t bufferSize) = 0;
+
+        virtual bool isCongested() = 0;
+        virtual size_t write(const uint8_t *buffer, size_t size) = 0;
+        virtual void flush() = 0;
+};
+
+
+class BTClassicSerial : public virtual BTSerialInterface, public BluetoothSerial
+{
+    // Everything is already implemented in BluetoothSerial since the code was
+    // originally written using that class
+    public:
+        bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize)
+        {
+            return BluetoothSerial::begin(deviceName, isMaster, rxQueueSize, txQueueSize);
+        }
+
+        void disconnect()
+        {
+            BluetoothSerial::disconnect();
+        }
+
+        void end()
+        {
+            BluetoothSerial::end();
+        }
+
+        esp_err_t register_callback(esp_spp_cb_t * callback)
+        {
+            return BluetoothSerial::register_callback(callback);
+        }
+
+        void setTimeout(unsigned long timeout)
+        {
+            BluetoothSerial::setTimeout(timeout);
+        }
+ 
+        int available()
+        {
+            return BluetoothSerial::available();
+        }
+
+        size_t readBytes(uint8_t *buffer, size_t bufferSize)
+        {
+            return BluetoothSerial::readBytes(buffer, bufferSize);
+        }
+
+        bool isCongested()
+        {
+            return BluetoothSerial::isCongested();
+        }
+
+        size_t write(const uint8_t *buffer, size_t size)
+        {
+            return BluetoothSerial::write(buffer, size);
+        }
+
+        void flush()
+        {
+            BluetoothSerial::flush();
+        }
+};
+
+
+class BTLESerial: public virtual BTSerialInterface, public BleSerial
+{
+    public:
+        // Missing from BleSerial
+        bool begin(String deviceName, bool isMaster, uint16_t rxQueueSuze, uint16_t txQueueSize)
+        {
+            // Curretnly ignoring rxQueueSize
+            // transmitBufferLength = txQueueSize;
+            BleSerial::begin(deviceName.c_str());
+            return true;
+        }
+
+        void disconnect()
+        {
+            Server->disconnect(Server->getConnId());
+        }
+
+        void end()
+        {
+            BleSerial::end();
+        }
+
+        esp_err_t register_callback(esp_spp_cb_t * callback)
+        {
+            connectionCallback = callback;
+            return ESP_OK;
+        }
+
+        void setTimeout(unsigned long timeout)
+        {
+            BleSerial::setTimeout(timeout);
+        }
+ 
+        int available()
+        {
+            return BleSerial::available();
+        }
+
+        size_t readBytes(uint8_t *buffer, size_t bufferSize)
+        {
+            return BleSerial::readBytes(buffer, bufferSize);
+        }
+
+        bool isCongested()
+        {
+            // not currently supported in this implementation
+            return false;
+        }
+
+        size_t write(const uint8_t *buffer, size_t size)
+        {
+            return BleSerial::write(buffer, size);
+        }
+
+        void flush()
+        {
+            BleSerial::flush();
+        }
+
+        // override BLEServerCallbacks
+        void onConnect(BLEServer *pServer)
+        {
+            bleConnected = true;
+            connectionCallback(ESP_SPP_SRV_OPEN_EVT, nullptr);
+        }
+
+        void onDisconnect(BLEServer *pServer)
+        {
+            bleConnected = false;
+            connectionCallback(ESP_SPP_CLOSE_EVT, nullptr);
+            Server->startAdvertising();
+        }
+
+    private:
+        esp_spp_cb_t * connectionCallback;
+
+};
+
+
+#endif
+
diff --git a/Firmware/RTK_Surveyor/menuBluetooth.ino b/Firmware/RTK_Surveyor/menuBluetooth.ino
new file mode 100644
index 000000000..e63d93187
--- /dev/null
+++ b/Firmware/RTK_Surveyor/menuBluetooth.ino
@@ -0,0 +1,45 @@
+void menuBluetooth()
+{
+    while (1)
+    {
+        Serial.println();
+        Serial.println(F("Menu: Blueooth Menu"));
+
+        Serial.println();
+        Serial.print(F("Current Bluetooth Mode: "));
+        if (settings.enableBLE == true)
+            Serial.println(F("BLE"));
+        else
+            Serial.println(F("Classic"));
+
+        Serial.println();
+        Serial.println(F("1) Set Bluetooth Mode to Classic"));
+        Serial.println(F("2) Set Bluetooth Mode to BLE"));
+        Serial.println(F("x) Exit"));
+
+        byte incoming = getByteChoice(menuTimeout);
+        if (incoming == '1')
+        {
+            // Restart Bluetooth
+            bluetoothStop();
+            settings.enableBLE = false;
+            bluetoothStart();
+        }
+        else if (incoming == '2')
+        {
+            // restart Bluetooth
+            bluetoothStop();
+            settings.enableBLE = true;
+            bluetoothStart();
+        }
+        else if (incoming == 'x')
+            break;
+        else if (incoming == STATUS_GETBYTE_TIMEOUT)
+            break;
+        else
+            printUnknown(incoming);
+    }
+
+    while (Serial.available()) Serial.read();
+}
+
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 480255596..50f5f5836 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -51,6 +51,8 @@ void menuMain()
 
     Serial.println("5) Configure Logging");
 
+    Serial.println("6) Configure Bluetooth");
+
     Serial.println("p) Configure Profiles");
 
 #ifdef COMPILE_ESPNOW
@@ -81,6 +83,8 @@ void menuMain()
       menuPorts();
     else if (incoming == '5')
       menuLog();
+    else if (incoming == '6')
+      menuBluetooth();
     else if (incoming == 's')
       menuSystem();
     else if (incoming == 'p')
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 893ca13be..cc06b8c60 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -278,6 +278,8 @@ typedef struct {
   bool enableExternalHardwareEventLogging = false; //Log when INT/TM2 pin goes low
   bool enableMarksFile = false; //Log marks to the marks file
 
+  bool enableBLE = false;
+
   ubxMsg ubxMessages[MAX_UBX_MSG] = //Report rates for all known messages
   {
     //NMEA
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
new file mode 100644
index 000000000..bcb5cb620
--- /dev/null
+++ b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
@@ -0,0 +1,184 @@
+#include "BleSerial.h"
+using namespace std;
+
+bool BleSerial::connected()
+{
+	return Server->getConnectedCount() > 0;
+}
+
+void BleSerial::onConnect(BLEServer *pServer)
+{
+	bleConnected = true;
+	if(ENABLE_LED) digitalWrite(BLUE_LED, HIGH);
+}
+
+void BleSerial::onDisconnect(BLEServer *pServer)
+{
+	bleConnected = false;
+	if(ENABLE_LED) digitalWrite(BLUE_LED, LOW);
+	Server->startAdvertising();
+}
+
+int BleSerial::read()
+{
+	uint8_t result = this->receiveBuffer.pop();
+	if (result == (uint8_t)'\n')
+	{
+		this->numAvailableLines--;
+	}
+	return result;
+}
+
+size_t BleSerial::readBytes(uint8_t *buffer, size_t bufferSize)
+{
+	int i = 0;
+	while (i < bufferSize && available())
+	{
+		buffer[i] = this->receiveBuffer.pop();
+		i++;
+	}
+	return i;
+}
+
+int BleSerial::peek()
+{
+	if (this->receiveBuffer.getLength() == 0)
+		return -1;
+	return this->receiveBuffer.get(0);
+}
+
+int BleSerial::available()
+{
+	return this->receiveBuffer.getLength();
+}
+
+size_t BleSerial::print(const char *str)
+{
+	if (Server->getConnectedCount() <= 0)
+	{
+		return 0;
+	}
+
+	size_t written = 0;
+	for (size_t i = 0; str[i] != '\0'; i++)
+	{
+		written += this->write(str[i]);
+	}
+	flush();
+	return written;
+}
+
+size_t BleSerial::write(const uint8_t *buffer, size_t bufferSize)
+{
+	if (Server->getConnectedCount() <= 0)
+	{
+		return 0;
+	}
+	size_t written = 0;
+	for (int i = 0; i < bufferSize; i++)
+	{
+		written += this->write(buffer[i]);
+	}
+	flush();
+	return written;
+}
+
+size_t BleSerial::write(uint8_t byte)
+{
+	if (Server->getConnectedCount() <= 0)
+	{
+		return 0;
+	}
+	this->transmitBuffer[this->transmitBufferLength] = byte;
+	this->transmitBufferLength++;
+	if (this->transmitBufferLength == sizeof(this->transmitBuffer))
+	{
+		flush();
+	}
+	return 1;
+}
+
+void BleSerial::flush()
+{
+	if (this->transmitBufferLength > 0)
+	{
+		TxCharacteristic->setValue(this->transmitBuffer, this->transmitBufferLength);
+		this->transmitBufferLength = 0;
+	}
+	this->lastFlushTime = millis();
+	TxCharacteristic->notify(true);
+}
+
+void BleSerial::begin(const char *name)
+{
+	//characteristic property is what the other device does.
+
+	ConnectedDeviceCount = 0;
+	BLEDevice::init(name);
+	//BLEDevice::setEncryptionLevel(ESP_BLE_SEC_ENCRYPT);
+
+	Server = BLEDevice::createServer();
+	Server->setCallbacks(this);
+
+	SetupSerialService();
+
+	pAdvertising = BLEDevice::getAdvertising();
+	pAdvertising->addServiceUUID(BLE_SERIAL_SERVICE_UUID);
+	pAdvertising->setScanResponse(true);
+	pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue
+	pAdvertising->setMinPreferred(0x12);
+	pAdvertising->start();
+
+	//pSecurity = new BLESecurity();
+
+	//Set static pin
+	//uint32_t passkey = 123456;
+	//esp_ble_gap_set_security_param(ESP_BLE_SM_SET_STATIC_PASSKEY, &passkey, sizeof(uint32_t));
+	//pSecurity->setCapability(ESP_IO_CAP_OUT);
+}
+
+void BleSerial::end()
+{
+	BLEDevice::deinit();
+}
+
+void BleSerial::onWrite(BLECharacteristic *pCharacteristic)
+{
+	if (pCharacteristic->getUUID().toString() == BLE_RX_UUID)
+	{
+		std::string value = pCharacteristic->getValue();
+
+		if (value.length() > 0)
+		{
+			for (int i = 0; i < value.length(); i++)
+				receiveBuffer.add(value[i]);
+		}
+	}
+}
+
+void BleSerial::SetupSerialService()
+{
+	SerialService = Server->createService(BLE_SERIAL_SERVICE_UUID);
+
+	RxCharacteristic = SerialService->createCharacteristic(
+		BLE_RX_UUID, BLECharacteristic::PROPERTY_WRITE);
+
+	TxCharacteristic = SerialService->createCharacteristic(
+		BLE_TX_UUID, BLECharacteristic::PROPERTY_NOTIFY);
+
+	TxCharacteristic->setAccessPermissions(ESP_GATT_PERM_READ_ENCRYPTED);
+	RxCharacteristic->setAccessPermissions(ESP_GATT_PERM_WRITE_ENCRYPTED);
+
+	TxCharacteristic->addDescriptor(new BLE2902());
+	RxCharacteristic->addDescriptor(new BLE2902());
+
+	TxCharacteristic->setReadProperty(true);
+	RxCharacteristic->setWriteProperty(true);
+	RxCharacteristic->setCallbacks(this);
+	SerialService->start();
+}
+
+BleSerial::BleSerial()
+{
+}
+
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
new file mode 100644
index 000000000..13d4cd3cd
--- /dev/null
+++ b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
@@ -0,0 +1,76 @@
+#pragma once
+#include <Arduino.h>
+
+#include <BLEDevice.h>
+#include <BLEUtils.h>
+#include <BLEServer.h>
+#include <BLE2902.h>
+#include "ByteRingBuffer.h"
+
+//Connection status LED
+#define ENABLE_LED 0
+#define BLUE_LED 13
+
+#define BLE_BUFFER_SIZE 500 //must be greater than MTU, less than ESP_GATT_MAX_ATTR_LEN
+
+
+
+class BleSerial : public BLECharacteristicCallbacks, public BLEServerCallbacks, public Stream
+{
+public:
+	BleSerial();
+
+	void begin(const char *name);
+	void end();
+	void onWrite(BLECharacteristic *pCharacteristic);
+	int available();
+	int read();
+	size_t readBytes(uint8_t *buffer, size_t bufferSize);
+	int peek();
+	size_t write(uint8_t byte);
+	void flush();
+	size_t write(const uint8_t *buffer, size_t bufferSize);
+	size_t print(const char *value);
+	void onConnect(BLEServer *pServer);
+	void onDisconnect(BLEServer *pServer);
+
+	bool connected();
+
+	BLEServer *Server;
+
+	BLEAdvertising *pAdvertising;
+	//BLESecurity *pSecurity;
+
+	//Services
+	BLEService *SerialService;
+
+	//Serial Characteristics
+	BLECharacteristic *TxCharacteristic;
+	BLECharacteristic *RxCharacteristic;
+
+protected:
+	size_t transmitBufferLength;
+	bool bleConnected;
+
+private:
+	BleSerial(BleSerial const &other) = delete;		 // disable copy constructor
+	void operator=(BleSerial const &other) = delete; // disable assign constructor
+
+	ByteRingBuffer<BLE_BUFFER_SIZE> receiveBuffer;
+	size_t numAvailableLines;
+
+	unsigned long long lastFlushTime;
+	uint8_t transmitBuffer[BLE_BUFFER_SIZE];
+
+	int ConnectedDeviceCount;
+	void SetupSerialService();
+
+	/*
+	Bluetooth LE GATT UUIDs for the Nordic UART profile
+	Change UUID here if required
+	*/
+	const char *BLE_SERIAL_SERVICE_UUID = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
+	const char *BLE_RX_UUID = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
+	const char *BLE_TX_UUID = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
+};
+
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h b/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h
new file mode 100644
index 000000000..aaa81184a
--- /dev/null
+++ b/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h
@@ -0,0 +1,45 @@
+#pragma once
+#include <Arduino.h>
+
+
+template <size_t N>
+class ByteRingBuffer
+{
+private:
+	uint8_t ringBuffer[N];
+	size_t newestIndex = 0;
+	size_t length = 0;
+
+public:
+	void add(uint8_t value)
+	{
+		ringBuffer[newestIndex] = value;
+		newestIndex = (newestIndex + 1) % N;
+		length = min(length + 1, N);
+	}
+	uint8_t pop()
+	{ // pops the oldest value off the ring buffer
+		if (length == 0)
+		{
+			return -1;
+		}
+		uint8_t result = ringBuffer[(N + newestIndex - length) % N];
+		length -= 1;
+		return result;
+	}
+	void clear()
+	{
+		newestIndex = 0;
+		length = 0;
+	}
+	uint8_t get(size_t index)
+	{ // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
+		if (index < 0 || index >= length)
+		{
+			return -1;
+		}
+		return ringBuffer[(N + newestIndex - length + index) % N];
+	}
+	size_t getLength() { return length; }
+};
+

From c1a8c09f43d1faa3b9b5cd4c45fc509bbd96304b Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 14 Aug 2022 20:57:21 -0600
Subject: [PATCH 065/134] Remove BleSerial driver and link to library instead.

---
 Firmware/RTK_Surveyor/bluetoothSelect.h       |   3 +-
 .../RTK_Surveyor/src/BleSerial/BleSerial.cpp  | 184 ------------------
 .../RTK_Surveyor/src/BleSerial/BleSerial.h    |  76 --------
 .../src/BleSerial/ByteRingBuffer.h            |  45 -----
 4 files changed, 1 insertion(+), 307 deletions(-)
 delete mode 100644 Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
 delete mode 100644 Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
 delete mode 100644 Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h

diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
index af708a904..dd65a3682 100644
--- a/Firmware/RTK_Surveyor/bluetoothSelect.h
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -1,7 +1,7 @@
 #ifdef COMPILE_BT
 
 #include "src/BluetoothSerial/BluetoothSerial.h"
-#include "src/BleSerial/BleSerial.h"
+#include <BleSerial.h> // Click here to get the library: http://librarymanager/All#ESP32_BleSerial by Avinab Malla
 
 class BTSerialInterface
 {
@@ -158,4 +158,3 @@ class BTLESerial: public virtual BTSerialInterface, public BleSerial
 
 
 #endif
-
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
deleted file mode 100644
index bcb5cb620..000000000
--- a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.cpp
+++ /dev/null
@@ -1,184 +0,0 @@
-#include "BleSerial.h"
-using namespace std;
-
-bool BleSerial::connected()
-{
-	return Server->getConnectedCount() > 0;
-}
-
-void BleSerial::onConnect(BLEServer *pServer)
-{
-	bleConnected = true;
-	if(ENABLE_LED) digitalWrite(BLUE_LED, HIGH);
-}
-
-void BleSerial::onDisconnect(BLEServer *pServer)
-{
-	bleConnected = false;
-	if(ENABLE_LED) digitalWrite(BLUE_LED, LOW);
-	Server->startAdvertising();
-}
-
-int BleSerial::read()
-{
-	uint8_t result = this->receiveBuffer.pop();
-	if (result == (uint8_t)'\n')
-	{
-		this->numAvailableLines--;
-	}
-	return result;
-}
-
-size_t BleSerial::readBytes(uint8_t *buffer, size_t bufferSize)
-{
-	int i = 0;
-	while (i < bufferSize && available())
-	{
-		buffer[i] = this->receiveBuffer.pop();
-		i++;
-	}
-	return i;
-}
-
-int BleSerial::peek()
-{
-	if (this->receiveBuffer.getLength() == 0)
-		return -1;
-	return this->receiveBuffer.get(0);
-}
-
-int BleSerial::available()
-{
-	return this->receiveBuffer.getLength();
-}
-
-size_t BleSerial::print(const char *str)
-{
-	if (Server->getConnectedCount() <= 0)
-	{
-		return 0;
-	}
-
-	size_t written = 0;
-	for (size_t i = 0; str[i] != '\0'; i++)
-	{
-		written += this->write(str[i]);
-	}
-	flush();
-	return written;
-}
-
-size_t BleSerial::write(const uint8_t *buffer, size_t bufferSize)
-{
-	if (Server->getConnectedCount() <= 0)
-	{
-		return 0;
-	}
-	size_t written = 0;
-	for (int i = 0; i < bufferSize; i++)
-	{
-		written += this->write(buffer[i]);
-	}
-	flush();
-	return written;
-}
-
-size_t BleSerial::write(uint8_t byte)
-{
-	if (Server->getConnectedCount() <= 0)
-	{
-		return 0;
-	}
-	this->transmitBuffer[this->transmitBufferLength] = byte;
-	this->transmitBufferLength++;
-	if (this->transmitBufferLength == sizeof(this->transmitBuffer))
-	{
-		flush();
-	}
-	return 1;
-}
-
-void BleSerial::flush()
-{
-	if (this->transmitBufferLength > 0)
-	{
-		TxCharacteristic->setValue(this->transmitBuffer, this->transmitBufferLength);
-		this->transmitBufferLength = 0;
-	}
-	this->lastFlushTime = millis();
-	TxCharacteristic->notify(true);
-}
-
-void BleSerial::begin(const char *name)
-{
-	//characteristic property is what the other device does.
-
-	ConnectedDeviceCount = 0;
-	BLEDevice::init(name);
-	//BLEDevice::setEncryptionLevel(ESP_BLE_SEC_ENCRYPT);
-
-	Server = BLEDevice::createServer();
-	Server->setCallbacks(this);
-
-	SetupSerialService();
-
-	pAdvertising = BLEDevice::getAdvertising();
-	pAdvertising->addServiceUUID(BLE_SERIAL_SERVICE_UUID);
-	pAdvertising->setScanResponse(true);
-	pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue
-	pAdvertising->setMinPreferred(0x12);
-	pAdvertising->start();
-
-	//pSecurity = new BLESecurity();
-
-	//Set static pin
-	//uint32_t passkey = 123456;
-	//esp_ble_gap_set_security_param(ESP_BLE_SM_SET_STATIC_PASSKEY, &passkey, sizeof(uint32_t));
-	//pSecurity->setCapability(ESP_IO_CAP_OUT);
-}
-
-void BleSerial::end()
-{
-	BLEDevice::deinit();
-}
-
-void BleSerial::onWrite(BLECharacteristic *pCharacteristic)
-{
-	if (pCharacteristic->getUUID().toString() == BLE_RX_UUID)
-	{
-		std::string value = pCharacteristic->getValue();
-
-		if (value.length() > 0)
-		{
-			for (int i = 0; i < value.length(); i++)
-				receiveBuffer.add(value[i]);
-		}
-	}
-}
-
-void BleSerial::SetupSerialService()
-{
-	SerialService = Server->createService(BLE_SERIAL_SERVICE_UUID);
-
-	RxCharacteristic = SerialService->createCharacteristic(
-		BLE_RX_UUID, BLECharacteristic::PROPERTY_WRITE);
-
-	TxCharacteristic = SerialService->createCharacteristic(
-		BLE_TX_UUID, BLECharacteristic::PROPERTY_NOTIFY);
-
-	TxCharacteristic->setAccessPermissions(ESP_GATT_PERM_READ_ENCRYPTED);
-	RxCharacteristic->setAccessPermissions(ESP_GATT_PERM_WRITE_ENCRYPTED);
-
-	TxCharacteristic->addDescriptor(new BLE2902());
-	RxCharacteristic->addDescriptor(new BLE2902());
-
-	TxCharacteristic->setReadProperty(true);
-	RxCharacteristic->setWriteProperty(true);
-	RxCharacteristic->setCallbacks(this);
-	SerialService->start();
-}
-
-BleSerial::BleSerial()
-{
-}
-
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h b/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
deleted file mode 100644
index 13d4cd3cd..000000000
--- a/Firmware/RTK_Surveyor/src/BleSerial/BleSerial.h
+++ /dev/null
@@ -1,76 +0,0 @@
-#pragma once
-#include <Arduino.h>
-
-#include <BLEDevice.h>
-#include <BLEUtils.h>
-#include <BLEServer.h>
-#include <BLE2902.h>
-#include "ByteRingBuffer.h"
-
-//Connection status LED
-#define ENABLE_LED 0
-#define BLUE_LED 13
-
-#define BLE_BUFFER_SIZE 500 //must be greater than MTU, less than ESP_GATT_MAX_ATTR_LEN
-
-
-
-class BleSerial : public BLECharacteristicCallbacks, public BLEServerCallbacks, public Stream
-{
-public:
-	BleSerial();
-
-	void begin(const char *name);
-	void end();
-	void onWrite(BLECharacteristic *pCharacteristic);
-	int available();
-	int read();
-	size_t readBytes(uint8_t *buffer, size_t bufferSize);
-	int peek();
-	size_t write(uint8_t byte);
-	void flush();
-	size_t write(const uint8_t *buffer, size_t bufferSize);
-	size_t print(const char *value);
-	void onConnect(BLEServer *pServer);
-	void onDisconnect(BLEServer *pServer);
-
-	bool connected();
-
-	BLEServer *Server;
-
-	BLEAdvertising *pAdvertising;
-	//BLESecurity *pSecurity;
-
-	//Services
-	BLEService *SerialService;
-
-	//Serial Characteristics
-	BLECharacteristic *TxCharacteristic;
-	BLECharacteristic *RxCharacteristic;
-
-protected:
-	size_t transmitBufferLength;
-	bool bleConnected;
-
-private:
-	BleSerial(BleSerial const &other) = delete;		 // disable copy constructor
-	void operator=(BleSerial const &other) = delete; // disable assign constructor
-
-	ByteRingBuffer<BLE_BUFFER_SIZE> receiveBuffer;
-	size_t numAvailableLines;
-
-	unsigned long long lastFlushTime;
-	uint8_t transmitBuffer[BLE_BUFFER_SIZE];
-
-	int ConnectedDeviceCount;
-	void SetupSerialService();
-
-	/*
-	Bluetooth LE GATT UUIDs for the Nordic UART profile
-	Change UUID here if required
-	*/
-	const char *BLE_SERIAL_SERVICE_UUID = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
-	const char *BLE_RX_UUID = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
-	const char *BLE_TX_UUID = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
-};
-
diff --git a/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h b/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h
deleted file mode 100644
index aaa81184a..000000000
--- a/Firmware/RTK_Surveyor/src/BleSerial/ByteRingBuffer.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-#include <Arduino.h>
-
-
-template <size_t N>
-class ByteRingBuffer
-{
-private:
-	uint8_t ringBuffer[N];
-	size_t newestIndex = 0;
-	size_t length = 0;
-
-public:
-	void add(uint8_t value)
-	{
-		ringBuffer[newestIndex] = value;
-		newestIndex = (newestIndex + 1) % N;
-		length = min(length + 1, N);
-	}
-	uint8_t pop()
-	{ // pops the oldest value off the ring buffer
-		if (length == 0)
-		{
-			return -1;
-		}
-		uint8_t result = ringBuffer[(N + newestIndex - length) % N];
-		length -= 1;
-		return result;
-	}
-	void clear()
-	{
-		newestIndex = 0;
-		length = 0;
-	}
-	uint8_t get(size_t index)
-	{ // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
-		if (index < 0 || index >= length)
-		{
-			return -1;
-		}
-		return ringBuffer[(N + newestIndex - length + index) % N];
-	}
-	size_t getLength() { return length; }
-};
-

From df5cf920f5dd3a338c3a79f7265fbc8cd94a5cda Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 14 Aug 2022 21:13:39 -0600
Subject: [PATCH 066/134] Move BLE control to system menu

---
 Firmware/RTK_Surveyor/Bluetooth.ino     |   2 -
 Firmware/RTK_Surveyor/bluetoothSelect.h | 272 ++++++++++++------------
 Firmware/RTK_Surveyor/menuBluetooth.ino |  45 ----
 Firmware/RTK_Surveyor/menuMain.ino      |   4 -
 Firmware/RTK_Surveyor/menuSystem.ino    |  17 ++
 Firmware/RTK_Surveyor/settings.h        |   3 +-
 6 files changed, 154 insertions(+), 189 deletions(-)
 delete mode 100644 Firmware/RTK_Surveyor/menuBluetooth.ino

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index d56d381cd..7a8359590 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -119,9 +119,7 @@ void bluetoothStart()
     if (settings.enableBLE)
       bluetoothSerial = new BTLESerial();
     else
-    {
       bluetoothSerial = new BTClassicSerial();
-    }
 
     if (bluetoothSerial->begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
     {
diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
index dd65a3682..fe7d8b8c1 100644
--- a/Firmware/RTK_Surveyor/bluetoothSelect.h
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -5,19 +5,19 @@
 
 class BTSerialInterface
 {
-    public:
-        virtual bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize) = 0;
-        virtual void disconnect() = 0;
-        virtual void end() = 0;
-        virtual esp_err_t register_callback(esp_spp_cb_t * callback) = 0;
-        virtual void setTimeout(unsigned long timeout) = 0;
- 
-        virtual int available() = 0;
-        virtual size_t readBytes(uint8_t *buffer, size_t bufferSize) = 0;
-
-        virtual bool isCongested() = 0;
-        virtual size_t write(const uint8_t *buffer, size_t size) = 0;
-        virtual void flush() = 0;
+  public:
+    virtual bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize) = 0;
+    virtual void disconnect() = 0;
+    virtual void end() = 0;
+    virtual esp_err_t register_callback(esp_spp_cb_t * callback) = 0;
+    virtual void setTimeout(unsigned long timeout) = 0;
+
+    virtual int available() = 0;
+    virtual size_t readBytes(uint8_t *buffer, size_t bufferSize) = 0;
+
+    virtual bool isCongested() = 0;
+    virtual size_t write(const uint8_t *buffer, size_t size) = 0;
+    virtual void flush() = 0;
 };
 
 
@@ -25,134 +25,134 @@ class BTClassicSerial : public virtual BTSerialInterface, public BluetoothSerial
 {
     // Everything is already implemented in BluetoothSerial since the code was
     // originally written using that class
-    public:
-        bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize)
-        {
-            return BluetoothSerial::begin(deviceName, isMaster, rxQueueSize, txQueueSize);
-        }
-
-        void disconnect()
-        {
-            BluetoothSerial::disconnect();
-        }
-
-        void end()
-        {
-            BluetoothSerial::end();
-        }
-
-        esp_err_t register_callback(esp_spp_cb_t * callback)
-        {
-            return BluetoothSerial::register_callback(callback);
-        }
-
-        void setTimeout(unsigned long timeout)
-        {
-            BluetoothSerial::setTimeout(timeout);
-        }
- 
-        int available()
-        {
-            return BluetoothSerial::available();
-        }
-
-        size_t readBytes(uint8_t *buffer, size_t bufferSize)
-        {
-            return BluetoothSerial::readBytes(buffer, bufferSize);
-        }
-
-        bool isCongested()
-        {
-            return BluetoothSerial::isCongested();
-        }
-
-        size_t write(const uint8_t *buffer, size_t size)
-        {
-            return BluetoothSerial::write(buffer, size);
-        }
-
-        void flush()
-        {
-            BluetoothSerial::flush();
-        }
+  public:
+    bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize)
+    {
+      return BluetoothSerial::begin(deviceName, isMaster, rxQueueSize, txQueueSize);
+    }
+
+    void disconnect()
+    {
+      BluetoothSerial::disconnect();
+    }
+
+    void end()
+    {
+      BluetoothSerial::end();
+    }
+
+    esp_err_t register_callback(esp_spp_cb_t * callback)
+    {
+      return BluetoothSerial::register_callback(callback);
+    }
+
+    void setTimeout(unsigned long timeout)
+    {
+      BluetoothSerial::setTimeout(timeout);
+    }
+
+    int available()
+    {
+      return BluetoothSerial::available();
+    }
+
+    size_t readBytes(uint8_t *buffer, size_t bufferSize)
+    {
+      return BluetoothSerial::readBytes(buffer, bufferSize);
+    }
+
+    bool isCongested()
+    {
+      return BluetoothSerial::isCongested();
+    }
+
+    size_t write(const uint8_t *buffer, size_t size)
+    {
+      return BluetoothSerial::write(buffer, size);
+    }
+
+    void flush()
+    {
+      BluetoothSerial::flush();
+    }
 };
 
 
 class BTLESerial: public virtual BTSerialInterface, public BleSerial
 {
-    public:
-        // Missing from BleSerial
-        bool begin(String deviceName, bool isMaster, uint16_t rxQueueSuze, uint16_t txQueueSize)
-        {
-            // Curretnly ignoring rxQueueSize
-            // transmitBufferLength = txQueueSize;
-            BleSerial::begin(deviceName.c_str());
-            return true;
-        }
-
-        void disconnect()
-        {
-            Server->disconnect(Server->getConnId());
-        }
-
-        void end()
-        {
-            BleSerial::end();
-        }
-
-        esp_err_t register_callback(esp_spp_cb_t * callback)
-        {
-            connectionCallback = callback;
-            return ESP_OK;
-        }
-
-        void setTimeout(unsigned long timeout)
-        {
-            BleSerial::setTimeout(timeout);
-        }
- 
-        int available()
-        {
-            return BleSerial::available();
-        }
-
-        size_t readBytes(uint8_t *buffer, size_t bufferSize)
-        {
-            return BleSerial::readBytes(buffer, bufferSize);
-        }
-
-        bool isCongested()
-        {
-            // not currently supported in this implementation
-            return false;
-        }
-
-        size_t write(const uint8_t *buffer, size_t size)
-        {
-            return BleSerial::write(buffer, size);
-        }
-
-        void flush()
-        {
-            BleSerial::flush();
-        }
-
-        // override BLEServerCallbacks
-        void onConnect(BLEServer *pServer)
-        {
-            bleConnected = true;
-            connectionCallback(ESP_SPP_SRV_OPEN_EVT, nullptr);
-        }
-
-        void onDisconnect(BLEServer *pServer)
-        {
-            bleConnected = false;
-            connectionCallback(ESP_SPP_CLOSE_EVT, nullptr);
-            Server->startAdvertising();
-        }
-
-    private:
-        esp_spp_cb_t * connectionCallback;
+  public:
+    // Missing from BleSerial
+    bool begin(String deviceName, bool isMaster, uint16_t rxQueueSuze, uint16_t txQueueSize)
+    {
+      // Curretnly ignoring rxQueueSize
+      // transmitBufferLength = txQueueSize;
+      BleSerial::begin(deviceName.c_str());
+      return true;
+    }
+
+    void disconnect()
+    {
+      Server->disconnect(Server->getConnId());
+    }
+
+    void end()
+    {
+      BleSerial::end();
+    }
+
+    esp_err_t register_callback(esp_spp_cb_t * callback)
+    {
+      connectionCallback = callback;
+      return ESP_OK;
+    }
+
+    void setTimeout(unsigned long timeout)
+    {
+      BleSerial::setTimeout(timeout);
+    }
+
+    int available()
+    {
+      return BleSerial::available();
+    }
+
+    size_t readBytes(uint8_t *buffer, size_t bufferSize)
+    {
+      return BleSerial::readBytes(buffer, bufferSize);
+    }
+
+    bool isCongested()
+    {
+      // not currently supported in this implementation
+      return false;
+    }
+
+    size_t write(const uint8_t *buffer, size_t size)
+    {
+      return BleSerial::write(buffer, size);
+    }
+
+    void flush()
+    {
+      BleSerial::flush();
+    }
+
+    // override BLEServerCallbacks
+    void onConnect(BLEServer *pServer)
+    {
+      bleConnected = true;
+      connectionCallback(ESP_SPP_SRV_OPEN_EVT, nullptr);
+    }
+
+    void onDisconnect(BLEServer *pServer)
+    {
+      bleConnected = false;
+      connectionCallback(ESP_SPP_CLOSE_EVT, nullptr);
+      Server->startAdvertising();
+    }
+
+  private:
+    esp_spp_cb_t * connectionCallback;
 
 };
 
diff --git a/Firmware/RTK_Surveyor/menuBluetooth.ino b/Firmware/RTK_Surveyor/menuBluetooth.ino
deleted file mode 100644
index e63d93187..000000000
--- a/Firmware/RTK_Surveyor/menuBluetooth.ino
+++ /dev/null
@@ -1,45 +0,0 @@
-void menuBluetooth()
-{
-    while (1)
-    {
-        Serial.println();
-        Serial.println(F("Menu: Blueooth Menu"));
-
-        Serial.println();
-        Serial.print(F("Current Bluetooth Mode: "));
-        if (settings.enableBLE == true)
-            Serial.println(F("BLE"));
-        else
-            Serial.println(F("Classic"));
-
-        Serial.println();
-        Serial.println(F("1) Set Bluetooth Mode to Classic"));
-        Serial.println(F("2) Set Bluetooth Mode to BLE"));
-        Serial.println(F("x) Exit"));
-
-        byte incoming = getByteChoice(menuTimeout);
-        if (incoming == '1')
-        {
-            // Restart Bluetooth
-            bluetoothStop();
-            settings.enableBLE = false;
-            bluetoothStart();
-        }
-        else if (incoming == '2')
-        {
-            // restart Bluetooth
-            bluetoothStop();
-            settings.enableBLE = true;
-            bluetoothStart();
-        }
-        else if (incoming == 'x')
-            break;
-        else if (incoming == STATUS_GETBYTE_TIMEOUT)
-            break;
-        else
-            printUnknown(incoming);
-    }
-
-    while (Serial.available()) Serial.read();
-}
-
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 50f5f5836..480255596 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -51,8 +51,6 @@ void menuMain()
 
     Serial.println("5) Configure Logging");
 
-    Serial.println("6) Configure Bluetooth");
-
     Serial.println("p) Configure Profiles");
 
 #ifdef COMPILE_ESPNOW
@@ -83,8 +81,6 @@ void menuMain()
       menuPorts();
     else if (incoming == '5')
       menuLog();
-    else if (incoming == '6')
-      menuBluetooth();
     else if (incoming == 's')
       menuSystem();
     else if (incoming == 'p')
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index ce1e42e26..10559dd37 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -152,6 +152,12 @@ void menuSystem()
     Serial.printf("m) Set time zone minutes: %d\r\n", settings.timeZoneMinutes);
     Serial.printf("s) Set time zone seconds: %d\r\n", settings.timeZoneSeconds);
 
+    Serial.print(F("b) Set Bluetooth Mode: "));
+    if (settings.enableBLE == true)
+      Serial.println(F("BLE"));
+    else
+      Serial.println(F("Classic"));
+
     Serial.println("r) Reset all settings to default");
 
     // Support mode switching
@@ -205,6 +211,17 @@ void menuSystem()
         updateRTC();
       }
     }
+    else if (incoming == 'b')
+    {
+      // Restart Bluetooth
+      bluetoothStop();
+      if (settings.enableBLE == false)
+        settings.enableBLE = true;
+      else
+        settings.enableBLE = false;
+      bluetoothStart();
+
+    }
     else if (incoming == 'r')
     {
       Serial.println("\r\nResetting to factory defaults. Press 'y' to confirm:");
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index cc06b8c60..46983abc9 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -278,8 +278,6 @@ typedef struct {
   bool enableExternalHardwareEventLogging = false; //Log when INT/TM2 pin goes low
   bool enableMarksFile = false; //Log marks to the marks file
 
-  bool enableBLE = false;
-
   ubxMsg ubxMessages[MAX_UBX_MSG] = //Report rates for all known messages
   {
     //NMEA
@@ -468,6 +466,7 @@ typedef struct {
   uint8_t espnowPeers[5][6]; //Max of 5 peers. Contains the MAC addresses (6 bytes) of paired units
   uint8_t espnowPeerCount;
   bool enableNtripServerMessageParsing = false;
+  bool enableBLE = false;
 } Settings;
 Settings settings;
 

From bc01e6ec26eba81ddac769bf28f10be6ab08c383 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 14 Aug 2022 21:31:38 -0600
Subject: [PATCH 067/134] Remove incompatible BleSerial code

Hoping we get PR #2 accepted so that we can directly compile using workflows.
---
 Firmware/RTK_Surveyor/bluetoothSelect.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
index fe7d8b8c1..29780f48b 100644
--- a/Firmware/RTK_Surveyor/bluetoothSelect.h
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -140,13 +140,13 @@ class BTLESerial: public virtual BTSerialInterface, public BleSerial
     // override BLEServerCallbacks
     void onConnect(BLEServer *pServer)
     {
-      bleConnected = true;
+      //bleConnected = true; Removed until PR is accepted
       connectionCallback(ESP_SPP_SRV_OPEN_EVT, nullptr);
     }
 
     void onDisconnect(BLEServer *pServer)
     {
-      bleConnected = false;
+      //bleConnected = false; Removed until PR is accepted
       connectionCallback(ESP_SPP_CLOSE_EVT, nullptr);
       Server->startAdvertising();
     }

From a732e80ea4bb688f5b1f9c680f252df9e1cf5ea4 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 14 Aug 2022 22:18:09 -0600
Subject: [PATCH 068/134] Update compile-rc.yml

---
 .github/workflows/compile-rc.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/compile-rc.yml b/.github/workflows/compile-rc.yml
index b51df06a0..308cdbbfd 100644
--- a/.github/workflows/compile-rc.yml
+++ b/.github/workflows/compile-rc.yml
@@ -46,7 +46,8 @@ jobs:
           https://github.com/sparkfun/SparkFun_LIS2DH12_Arduino_Library.git 
           https://github.com/bblanchon/ArduinoJson.git 
           https://github.com/knolleary/pubsubclient.git
-
+          https://github.com/avinabmalla/ESP32_BleSerial.git
+          
       - name: Compile Sketch
         run: arduino-cli compile --fqbn esp32:esp32:esp32 ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
           --build-property build.partitions=partitions

From b28cffd7bb4c13fcd60ca6ae7c48fc2105c89a1d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 16:33:28 -0600
Subject: [PATCH 069/134] Return to built-in BluetoothSerial library.

Congestion testing was causing problems. The current library works well at 10Hz.
---
 Firmware/RTK_Surveyor/Bluetooth.ino           |    5 +-
 Firmware/RTK_Surveyor/bluetoothSelect.h       |   19 +-
 .../src/BluetoothSerial/BTAddress.cpp         |   96 --
 .../src/BluetoothSerial/BTAddress.h           |   36 -
 .../src/BluetoothSerial/BTAdvertisedDevice.h  |   65 --
 .../BluetoothSerial/BTAdvertisedDeviceSet.cpp |   78 --
 .../RTK_Surveyor/src/BluetoothSerial/BTScan.h |   42 -
 .../src/BluetoothSerial/BTScanResultsSet.cpp  |   95 --
 .../src/BluetoothSerial/BluetoothSerial.cpp   | 1040 -----------------
 .../src/BluetoothSerial/BluetoothSerial.h     |   90 --
 10 files changed, 13 insertions(+), 1553 deletions(-)
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.cpp
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.h
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDevice.h
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDeviceSet.cpp
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTScan.h
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BTScanResultsSet.cpp
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
 delete mode 100644 Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.h

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 7a8359590..408d13eb3 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -73,7 +73,8 @@ byte bluetoothGetState()
 bool bluetoothIsCongested()
 {
 #ifdef COMPILE_BT
-  return bluetoothSerial->isCongested();
+  //return bluetoothSerial->isCongested();
+  return false;
 #else   //COMPILE_BT
   return false;
 #endif  //COMPILE_BT
@@ -121,7 +122,7 @@ void bluetoothStart()
     else
       bluetoothSerial = new BTClassicSerial();
 
-    if (bluetoothSerial->begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
+    if (bluetoothSerial->begin(deviceName) == false)
     {
       Serial.println("An error occurred initializing Bluetooth");
 
diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
index 29780f48b..decd4d855 100644
--- a/Firmware/RTK_Surveyor/bluetoothSelect.h
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -1,12 +1,12 @@
 #ifdef COMPILE_BT
 
-#include "src/BluetoothSerial/BluetoothSerial.h"
+#include "BluetoothSerial.h"
 #include <BleSerial.h> // Click here to get the library: http://librarymanager/All#ESP32_BleSerial by Avinab Malla
 
 class BTSerialInterface
 {
   public:
-    virtual bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize) = 0;
+    virtual bool begin(String deviceName) = 0;
     virtual void disconnect() = 0;
     virtual void end() = 0;
     virtual esp_err_t register_callback(esp_spp_cb_t * callback) = 0;
@@ -15,7 +15,7 @@ class BTSerialInterface
     virtual int available() = 0;
     virtual size_t readBytes(uint8_t *buffer, size_t bufferSize) = 0;
 
-    virtual bool isCongested() = 0;
+    //virtual bool isCongested() = 0;
     virtual size_t write(const uint8_t *buffer, size_t size) = 0;
     virtual void flush() = 0;
 };
@@ -26,9 +26,9 @@ class BTClassicSerial : public virtual BTSerialInterface, public BluetoothSerial
     // Everything is already implemented in BluetoothSerial since the code was
     // originally written using that class
   public:
-    bool begin(String deviceName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize)
+    bool begin(String deviceName)
     {
-      return BluetoothSerial::begin(deviceName, isMaster, rxQueueSize, txQueueSize);
+      return BluetoothSerial::begin(deviceName);
     }
 
     void disconnect()
@@ -63,7 +63,10 @@ class BTClassicSerial : public virtual BTSerialInterface, public BluetoothSerial
 
     bool isCongested()
     {
-      return BluetoothSerial::isCongested();
+      // Removed congestion testing in v2.4 
+      // TODO Remove settings and checking
+      return(false);
+      //return BluetoothSerial::isCongested();
     }
 
     size_t write(const uint8_t *buffer, size_t size)
@@ -82,10 +85,8 @@ class BTLESerial: public virtual BTSerialInterface, public BleSerial
 {
   public:
     // Missing from BleSerial
-    bool begin(String deviceName, bool isMaster, uint16_t rxQueueSuze, uint16_t txQueueSize)
+    bool begin(String deviceName)
     {
-      // Curretnly ignoring rxQueueSize
-      // transmitBufferLength = txQueueSize;
       BleSerial::begin(deviceName.c_str());
       return true;
     }
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.cpp
deleted file mode 100644
index 7ef1eb1a8..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * BTAddress.cpp
- *
- *  Created on: Jul 2, 2017
- *      Author: kolban
- *  Ported  on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-#include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-
-#include "BTAddress.h"
-#include <string>
-#include <sstream>
-#include <iomanip>
-#include <string.h>
-#include <stdio.h>
-#include <malloc.h>
-#ifdef ARDUINO_ARCH_ESP32
-#include "esp32-hal-log.h"
-#endif
-
-
-/**
- * @brief Create an address from the native ESP32 representation.
- * @param [in] address The native representation.
- */
-BTAddress::BTAddress(esp_bd_addr_t address) {
-	memcpy(m_address, address, ESP_BD_ADDR_LEN);
-} // BTAddress
-
-
-/**
- * @brief Create an address from a hex string
- *
- * A hex string is of the format:
- * ```
- * 00:00:00:00:00:00
- * ```
- * which is 17 characters in length.
- *
- * @param [in] stringAddress The hex representation of the address.
- */
-BTAddress::BTAddress(std::string stringAddress) {
-	if (stringAddress.length() != 17) return;
-
-	int data[6];
-	sscanf(stringAddress.c_str(), "%x:%x:%x:%x:%x:%x", &data[0], &data[1], &data[2], &data[3], &data[4], &data[5]);
-	m_address[0] = (uint8_t) data[0];
-	m_address[1] = (uint8_t) data[1];
-	m_address[2] = (uint8_t) data[2];
-	m_address[3] = (uint8_t) data[3];
-	m_address[4] = (uint8_t) data[4];
-	m_address[5] = (uint8_t) data[5];
-} // BTAddress
-
-
-/**
- * @brief Determine if this address equals another.
- * @param [in] otherAddress The other address to compare against.
- * @return True if the addresses are equal.
- */
-bool BTAddress::equals(BTAddress otherAddress) {
-	return memcmp(otherAddress.getNative(), m_address, 6) == 0;
-} // equals
-
-
-/**
- * @brief Return the native representation of the address.
- * @return The native representation of the address.
- */
-esp_bd_addr_t *BTAddress::getNative() {
-	return &m_address;
-} // getNative
-
-
-/**
- * @brief Convert a BT address to a string.
- *
- * A string representation of an address is in the format:
- *
- * ```
- * xx:xx:xx:xx:xx:xx
- * ```
- *
- * @return The string representation of the address.
- */
-std::string BTAddress::toString() {
-	auto size = 18;
-	char *res = (char*)malloc(size);
-	snprintf(res, size, "%02x:%02x:%02x:%02x:%02x:%02x", m_address[0], m_address[1], m_address[2], m_address[3], m_address[4], m_address[5]);
-	std::string ret(res);
-	free(res);
-	return ret;
-} // toString
-#endif
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.h b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.h
deleted file mode 100644
index 6213d01fd..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * BTAddress.h
- *
- *  Created on: Jul 2, 2017
- *      Author: kolban
- *  Ported  on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-
-#ifndef COMPONENTS_CPP_UTILS_BTADDRESS_H_
-#define COMPONENTS_CPP_UTILS_BTADDRESS_H_
-#include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-#include <esp_gap_bt_api.h> // ESP32 BT
-#include <string>
-
-
-/**
- * @brief A %BT device address.
- *
- * Every %BT device has a unique address which can be used to identify it and form connections.
- */
-class BTAddress {
-public:
-	BTAddress(esp_bd_addr_t address);
-	BTAddress(std::string stringAddress);
-	bool           equals(BTAddress otherAddress);
-	esp_bd_addr_t* getNative();
-	std::string    toString();
-
-private:
-	esp_bd_addr_t m_address;
-};
-
-#endif /* CONFIG_BT_ENABLED */
-#endif /* COMPONENTS_CPP_UTILS_BTADDRESS_H_ */
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDevice.h b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDevice.h
deleted file mode 100644
index 07e93622e..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDevice.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * BTAdvertisedDevice.h
- *
- *  Created on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-
-#ifndef __BTADVERTISEDDEVICE_H__
-#define __BTADVERTISEDDEVICE_H__
-
-#include "BTAddress.h"
-
-
-class BTAdvertisedDevice {
-public:
-    virtual ~BTAdvertisedDevice() = default;
-
-    virtual BTAddress   getAddress();
-    virtual uint32_t    getCOD();
-    virtual std::string getName();
-    virtual int8_t      getRSSI();
-
-
-    virtual bool        haveCOD();
-    virtual bool        haveName();
-    virtual bool        haveRSSI();
-
-    virtual std::string toString();
-};
-
-class BTAdvertisedDeviceSet : public virtual BTAdvertisedDevice {
-public:
-    BTAdvertisedDeviceSet();
-    //~BTAdvertisedDeviceSet() = default;
-    
-
-    BTAddress   getAddress();
-    uint32_t    getCOD();
-    std::string getName();
-    int8_t      getRSSI();
-
-
-    bool        haveCOD();
-    bool        haveName();
-    bool        haveRSSI();
-
-    std::string toString();
-
-    void setAddress(BTAddress address);
-    void setCOD(uint32_t cod);
-    void setName(std::string name);
-    void setRSSI(int8_t rssi);
-
-    bool m_haveCOD;
-    bool m_haveName;
-    bool m_haveRSSI;
-
-
-    BTAddress   m_address = BTAddress((uint8_t*)"\0\0\0\0\0\0");
-    uint32_t    m_cod;
-    std::string m_name;
-    int8_t      m_rssi;
-};
-
-#endif
\ No newline at end of file
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDeviceSet.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDeviceSet.cpp
deleted file mode 100644
index c8f28e9c3..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDeviceSet.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * BTAdvertisedDeviceSet.cpp
- *
- *  Created on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-
-#include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-
-//#include <map>
-
-#include "BTAdvertisedDevice.h"
-//#include "BTScan.h"
-
-
-BTAdvertisedDeviceSet::BTAdvertisedDeviceSet() {
-	m_cod		       = 0;
-	m_name             = "";
-	m_rssi             = 0;
-
-	m_haveCOD	       = false;
-	m_haveName         = false;
-	m_haveRSSI         = false;
-} // BTAdvertisedDeviceSet
-
-BTAddress   BTAdvertisedDeviceSet::getAddress()    { return m_address; }
-uint32_t    BTAdvertisedDeviceSet::getCOD()        { return m_cod; }
-std::string BTAdvertisedDeviceSet::getName()       { return m_name; }
-int8_t      BTAdvertisedDeviceSet::getRSSI()	    { return m_rssi; }
-
-
-bool        BTAdvertisedDeviceSet::haveCOD()   { return m_haveCOD; }
-bool        BTAdvertisedDeviceSet::haveName()  { return m_haveName; }
-bool        BTAdvertisedDeviceSet::haveRSSI()  { return m_haveRSSI; }
-
-/**
- * @brief Create a string representation of this device.
- * @return A string representation of this device.
- */
-std::string BTAdvertisedDeviceSet::toString() {
-	std::string res = "Name: " + getName() + ", Address: " + getAddress().toString();
-	if (haveCOD()) {
-		char val[6];
-		snprintf(val, sizeof(val), "%d", getCOD());
-		res += ", cod: ";
-		res += val;
-	}
-	if (haveRSSI()) {
-		char val[6];
-		snprintf(val, sizeof(val), "%d", (int8_t)getRSSI());
-		res += ", rssi: ";
-		res += val;
-	}
-	return res;
-} // toString
-
-
-void BTAdvertisedDeviceSet::setAddress(BTAddress address) {
-    m_address = address;
-}
-
-void BTAdvertisedDeviceSet::setCOD(uint32_t cod) {
-    m_cod     = cod;
-	m_haveCOD = true;
-}
-
-void BTAdvertisedDeviceSet::setName(std::string name) {
-    m_name     = name;
-	m_haveName = true;
-}
-
-void BTAdvertisedDeviceSet::setRSSI(int8_t rssi) {
-    m_rssi     = rssi;
-	m_haveRSSI = true;
-}
-
-#endif /* CONFIG_BT_ENABLED */
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScan.h b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScan.h
deleted file mode 100644
index 3650d4162..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScan.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * BTScan.h
- *
- *  Created on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-
-#ifndef __BTSCAN_H__
-#define __BTSCAN_H__
-
-#include <map>
-#include <string>
-#include <Print.h>
-#include "BTAddress.h"
-#include "BTAdvertisedDevice.h"
-
-class BTAdvertisedDevice;
-class BTAdvertisedDeviceSet;
-
-
-class BTScanResults {
-public:
-	virtual ~BTScanResults() = default;
-
-    virtual void        		dump(Print *print = nullptr);
-    virtual int         		getCount();
-    virtual BTAdvertisedDevice* getDevice(uint32_t i);
-};
-
-class BTScanResultsSet : public BTScanResults {
-public:
-    void                	dump(Print *print = nullptr);
-    int                 	getCount();
-    BTAdvertisedDevice*		getDevice(uint32_t i);
-
-	bool add(BTAdvertisedDeviceSet advertisedDevice, bool unique = true);
-	void clear();
-
-    std::map<std::string, BTAdvertisedDeviceSet> m_vectorAdvertisedDevices;
-};
-
-#endif
\ No newline at end of file
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScanResultsSet.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScanResultsSet.cpp
deleted file mode 100644
index 79d23e463..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BTScanResultsSet.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
- * BTScanResultsSet.cpp
- *
- *  Created on: Feb 5, 2021
- *      Author: Thomas M. (ArcticSnowSky)
- */
-
-#include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-
-
-#include <esp_err.h>
-
-#include "BTAdvertisedDevice.h"
-#include "BTScan.h"
-//#include "GeneralUtils.h"
-#include "esp32-hal-log.h"
-
-
-class BTAdvertisedDevice;
-
-/**
- * @brief Dump the scan results to the log.
- */
-void BTScanResultsSet::dump(Print *print) {
-	int cnt = getCount();
-	if (print == nullptr) {
-		log_v(">> Dump scan results : %d", cnt);
-		for (int i=0; i < cnt; i++) {
-			BTAdvertisedDevice* dev = getDevice(i);
-			if (dev)
-				log_d("- %d: %s\n", i+1, dev->toString().c_str());
-			else
-				log_d("- %d is null\n", i+1);
-		}
-		log_v("-- dump finished --");
-	} else {
-		print->printf(">> Dump scan results: %d\n", cnt);
-		for (int i=0; i < cnt; i++) {
-			BTAdvertisedDevice* dev = getDevice(i);
-			if (dev)
-				print->printf("- %d: %s\n", i+1, dev->toString().c_str());
-			else
-				print->printf("- %d is null\n", i+1);
-		}
-		print->println("-- Dump finished --");
-	}
-} // dump
-
-
-/**
- * @brief Return the count of devices found in the last scan.
- * @return The number of devices found in the last scan.
- */
-int BTScanResultsSet::getCount() {
-	return m_vectorAdvertisedDevices.size();
-} // getCount
-
-
-/**
- * @brief Return the specified device at the given index.
- * The index should be between 0 and getCount()-1.
- * @param [in] i The index of the device.
- * @return The device at the specified index.
- */
-BTAdvertisedDevice* BTScanResultsSet::getDevice(uint32_t i) {
-	if (i < 0)
-		return nullptr;
-
-	uint32_t x = 0;
-	BTAdvertisedDeviceSet* pDev = &m_vectorAdvertisedDevices.begin()->second;
-	for (auto it = m_vectorAdvertisedDevices.begin(); it != m_vectorAdvertisedDevices.end(); it++) {
-		pDev = &it->second;
-		if (x==i)	break;
-		x++;
-	}
-	return x==i ? pDev : nullptr;
-}
-
-void BTScanResultsSet::clear() {
-    //for(auto _dev : m_vectorAdvertisedDevices)
-	//	delete _dev.second;
-	m_vectorAdvertisedDevices.clear();
-}
-
-bool BTScanResultsSet::add(BTAdvertisedDeviceSet advertisedDevice, bool unique) {
-	std::string key = advertisedDevice.getAddress().toString();
-	if (!unique || m_vectorAdvertisedDevices.count(key) == 0) {
-		m_vectorAdvertisedDevices.insert(std::pair<std::string, BTAdvertisedDeviceSet>(key, advertisedDevice));
-		return true;
-	} else
-		return false;
-}
-
-#endif
\ No newline at end of file
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
deleted file mode 100644
index ab70d3024..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp
+++ /dev/null
@@ -1,1040 +0,0 @@
-// Copyright 2018 Evandro Luis Copercini
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "sdkconfig.h"
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-
-#ifdef ARDUINO_ARCH_ESP32
-#include "esp32-hal-log.h"
-#endif
-
-#include "BluetoothSerial.h"
-
-#include "esp_bt.h"
-#include "esp_bt_main.h"
-#include "esp_gap_bt_api.h"
-#include "esp_bt_device.h"
-#include "esp_spp_api.h"
-#include <esp_log.h>
-
-#include "esp32-hal-log.h"
-
-const char * _spp_server_name = "ESP32SPP";
-
-//Now passed in during begin()
-//#define RX_QUEUE_SIZE 512 //Original
-//#define TX_QUEUE_SIZE 32
-
-#define SPP_TX_QUEUE_TIMEOUT 1000
-#define SPP_TX_DONE_TIMEOUT 1000
-#define SPP_CONGESTED_TIMEOUT 1000
-
-static uint32_t _spp_client = 0;
-static xQueueHandle _spp_rx_queue = NULL;
-static xQueueHandle _spp_tx_queue = NULL;
-static SemaphoreHandle_t _spp_tx_done = NULL;
-static TaskHandle_t _spp_task_handle = NULL;
-static EventGroupHandle_t _spp_event_group = NULL;
-static EventGroupHandle_t _bt_event_group = NULL;
-static boolean secondConnectionAttempt;
-static esp_spp_cb_t * custom_spp_callback = NULL;
-static BluetoothSerialDataCb custom_data_callback = NULL;
-static esp_bd_addr_t current_bd_addr;
-static ConfirmRequestCb confirm_request_callback = NULL;
-static AuthCompleteCb auth_complete_callback = NULL;
-
-#define INQ_LEN 0x10
-#define INQ_NUM_RSPS 20
-#define READY_TIMEOUT (10 * 1000)
-#define SCAN_TIMEOUT (INQ_LEN * 2 * 1000)
-static esp_bd_addr_t _peer_bd_addr;
-static char _remote_name[ESP_BT_GAP_MAX_BDNAME_LEN + 1];
-static bool _isRemoteAddressSet;
-static bool _isMaster;
-static esp_bt_pin_code_t _pin_code;
-static int _pin_len;
-static bool _isPinSet;
-static bool _enableSSP;
-
-static BTScanResultsSet scanResults;
-static BTAdvertisedDeviceCb advertisedDeviceCb = nullptr;
-
-#define SPP_RUNNING     0x01
-#define SPP_CONNECTED   0x02
-#define SPP_CONGESTED   0x04
-#define SPP_DISCONNECTED 0x08
-
-#define BT_DISCOVERY_RUNNING    0x01
-#define BT_DISCOVERY_COMPLETED  0x02
-
-
-typedef struct {
-        size_t len;
-        uint8_t data[];
-} spp_packet_t;
-
-#if (ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO)
-static char *bda2str(esp_bd_addr_t bda, char *str, size_t size)
-{
-  if (bda == NULL || str == NULL || size < 18) {
-    return NULL;
-  }
-
-  uint8_t *p = bda;
-  sprintf(str, "%02x:%02x:%02x:%02x:%02x:%02x",
-          p[0], p[1], p[2], p[3], p[4], p[5]);
-  return str;
-}
-#endif
-
-static bool get_name_from_eir(uint8_t *eir, char *bdname, uint8_t *bdname_len)
-{
-    if (!eir || !bdname || !bdname_len) {
-        return false;
-    }
-
-    uint8_t *rmt_bdname, rmt_bdname_len;
-    *bdname = *bdname_len = rmt_bdname_len = 0;
-
-    rmt_bdname = esp_bt_gap_resolve_eir_data(eir, ESP_BT_EIR_TYPE_CMPL_LOCAL_NAME, &rmt_bdname_len);
-    if (!rmt_bdname) {
-        rmt_bdname = esp_bt_gap_resolve_eir_data(eir, ESP_BT_EIR_TYPE_SHORT_LOCAL_NAME, &rmt_bdname_len);
-    }
-    if (rmt_bdname) {
-        rmt_bdname_len = rmt_bdname_len > ESP_BT_GAP_MAX_BDNAME_LEN ? ESP_BT_GAP_MAX_BDNAME_LEN : rmt_bdname_len;
-        memcpy(bdname, rmt_bdname, rmt_bdname_len);
-        bdname[rmt_bdname_len] = 0;
-        *bdname_len = rmt_bdname_len;
-        return true;
-    }
-    return false;
-}
-
-static bool btSetPin() {
-    esp_bt_pin_type_t pin_type;
-    if (_isPinSet) {
-        if (_pin_len) {
-            log_i("pin set");
-            pin_type = ESP_BT_PIN_TYPE_FIXED;
-        } else {
-            _isPinSet = false;
-            log_i("pin reset");
-            pin_type = ESP_BT_PIN_TYPE_VARIABLE; // pin_code would be ignored (default)
-        }
-        return (esp_bt_gap_set_pin(pin_type, _pin_len, _pin_code) == ESP_OK);        
-    }
-    return false;
-}
-
-static esp_err_t _spp_queue_packet(uint8_t *data, size_t len){
-    if(!data || !len){
-        log_w("No data provided");
-        return ESP_OK;
-    }
-    spp_packet_t * packet = (spp_packet_t*)malloc(sizeof(spp_packet_t) + len);
-    if(!packet){
-        log_e("SPP TX Packet Malloc Failed!");
-        return ESP_FAIL;
-    }
-    packet->len = len;
-    memcpy(packet->data, data, len);
-    if (!_spp_tx_queue || xQueueSend(_spp_tx_queue, &packet, SPP_TX_QUEUE_TIMEOUT) != pdPASS) {
-        log_e("SPP TX Queue Send Failed!");
-        free(packet);
-        return ESP_FAIL;
-    }
-    return ESP_OK;
-}
-
-//SPP_TX_MAX seems to default to a lower amount (330) until there is congestion it then
-//tries to catch up but at 330, it cannot and the heap begins to take the hit.
-//Increasing the max to 2048 we see normal verbose xfers of 512 until congestion
-//when it increases briefly to 2048 then returns to 512 with no heap hit.
-//The rate at which we congest is dependant on how much we are attempting to TX and
-//how much is coming in RX from the phone.
-//At ~25kBps heap lowest point is 100k and stable
-//At ~50kBps heap lowest point is ~78k and stable
-//Above 50kbps it becomes unstable
-
-//const uint16_t SPP_TX_MAX = 330; //Original 
-const uint16_t SPP_TX_MAX = 1024*4; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
-
-/*
-During ESP Now development the hardware got into a very bad state and Bluetooth was acting very
-oddly. Eventually, WiFi would not connect (Reason: 202 - AUTH_FAIL) even using stock examples.
-The solution was, unexplicably, a full flash erase. Everything worked after that.
-*/
-
-static uint8_t _spp_tx_buffer[SPP_TX_MAX];
-static uint16_t _spp_tx_buffer_len = 0;
-
-static bool _spp_send_buffer(){
-    if((xEventGroupWaitBits(_spp_event_group, SPP_CONGESTED, pdFALSE, pdTRUE, SPP_CONGESTED_TIMEOUT) & SPP_CONGESTED) != 0){
-        if(!_spp_client){
-            log_v("SPP Client Gone!");
-            return false;
-        }
-        log_v("SPP Write %u", _spp_tx_buffer_len);
-        esp_err_t err = esp_spp_write(_spp_client, _spp_tx_buffer_len, _spp_tx_buffer);
-        if(err != ESP_OK){
-            log_e("SPP Write Failed! [0x%X]", err);
-            return false;
-        }
-        _spp_tx_buffer_len = 0;
-        if(xSemaphoreTake(_spp_tx_done, SPP_TX_DONE_TIMEOUT) != pdTRUE){
-            log_e("SPP Ack Failed!");
-            return false;
-        }
-        return true;
-    }
-    log_e("SPP Write Congested!");
-    return false;
-}
-
-static void _spp_tx_task(void * arg){
-    spp_packet_t *packet = NULL;
-    size_t len = 0, to_send = 0;
-    uint8_t * data = NULL;
-    for (;;) {
-        if(_spp_tx_queue && xQueueReceive(_spp_tx_queue, &packet, portMAX_DELAY) == pdTRUE && packet){
-            if(packet->len <= (SPP_TX_MAX - _spp_tx_buffer_len)){
-                memcpy(_spp_tx_buffer+_spp_tx_buffer_len, packet->data, packet->len);
-                _spp_tx_buffer_len+=packet->len;
-                free(packet);
-                packet = NULL;
-                if(SPP_TX_MAX == _spp_tx_buffer_len || uxQueueMessagesWaiting(_spp_tx_queue) == 0){
-                    _spp_send_buffer();
-                }
-            } else {
-                len = packet->len;
-                data = packet->data;
-                to_send = SPP_TX_MAX - _spp_tx_buffer_len;
-                memcpy(_spp_tx_buffer+_spp_tx_buffer_len, data, to_send);
-                _spp_tx_buffer_len = SPP_TX_MAX;
-                data += to_send;
-                len -= to_send;
-                if(!_spp_send_buffer()){
-                    len = 0;
-                }
-                while(len >= SPP_TX_MAX){
-                    memcpy(_spp_tx_buffer, data, SPP_TX_MAX);
-                    _spp_tx_buffer_len = SPP_TX_MAX;
-                    data += SPP_TX_MAX;
-                    len -= SPP_TX_MAX;
-                    if(!_spp_send_buffer()){
-                        len = 0;
-                        break;
-                    }
-                }
-                if(len){
-                    memcpy(_spp_tx_buffer, data, len);
-                    _spp_tx_buffer_len += len;
-                    if(uxQueueMessagesWaiting(_spp_tx_queue) == 0){
-                        _spp_send_buffer();
-                    }
-                }
-                free(packet);
-                packet = NULL;
-            }
-        } else {
-            log_e("Something went horribly wrong");
-        }
-    }
-    vTaskDelete(NULL);
-    _spp_task_handle = NULL;
-}
-
-static void esp_spp_cb(esp_spp_cb_event_t event, esp_spp_cb_param_t *param)
-{
-    switch (event)
-    {
-    case ESP_SPP_INIT_EVT:
-        log_i("ESP_SPP_INIT_EVT");
-#ifdef ESP_IDF_VERSION_MAJOR
-        esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
-#else
-        esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
-#endif
-        if (!_isMaster) {
-            log_i("ESP_SPP_INIT_EVT: slave: start");
-            esp_spp_start_srv(ESP_SPP_SEC_NONE, ESP_SPP_ROLE_SLAVE, 0, _spp_server_name);
-        }
-        xEventGroupSetBits(_spp_event_group, SPP_RUNNING);
-        break;
-
-    case ESP_SPP_SRV_OPEN_EVT://Server connection open
-        if (param->srv_open.status == ESP_SPP_SUCCESS) {
-            log_i("ESP_SPP_SRV_OPEN_EVT: %u", _spp_client);
-            if (!_spp_client){
-                _spp_client = param->srv_open.handle;
-                _spp_tx_buffer_len = 0;
-            } else {
-                secondConnectionAttempt = true;
-                esp_spp_disconnect(param->srv_open.handle);
-            }
-            xEventGroupClearBits(_spp_event_group, SPP_DISCONNECTED);
-            xEventGroupSetBits(_spp_event_group, SPP_CONNECTED);
-        } else {
-            log_e("ESP_SPP_SRV_OPEN_EVT Failed!, status:%d", param->srv_open.status);
-        }
-        break;
-
-    case ESP_SPP_CLOSE_EVT://Client connection closed
-        if ((param->close.async == false && param->close.status == ESP_SPP_SUCCESS) || param->close.async) {
-            log_i("ESP_SPP_CLOSE_EVT: %u", secondConnectionAttempt);
-            if(secondConnectionAttempt) {
-                secondConnectionAttempt = false;
-            } else {
-                _spp_client = 0;
-                xEventGroupSetBits(_spp_event_group, SPP_DISCONNECTED);
-                xEventGroupSetBits(_spp_event_group, SPP_CONGESTED);
-            }        
-            xEventGroupClearBits(_spp_event_group, SPP_CONNECTED);
-        } else {
-            log_e("ESP_SPP_CLOSE_EVT failed!, status:%d", param->close.status);
-        }
-        break;
-
-    case ESP_SPP_CONG_EVT://connection congestion status changed
-        if(param->cong.cong){
-            xEventGroupClearBits(_spp_event_group, SPP_CONGESTED);
-        } else {
-            xEventGroupSetBits(_spp_event_group, SPP_CONGESTED);
-        }
-        log_v("ESP_SPP_CONG_EVT: %s", param->cong.cong?"CONGESTED":"FREE");
-        break;
-
-    case ESP_SPP_WRITE_EVT://write operation completed
-        if (param->write.status == ESP_SPP_SUCCESS) {
-            if(param->write.cong){
-                xEventGroupClearBits(_spp_event_group, SPP_CONGESTED);
-            }
-            log_v("ESP_SPP_WRITE_EVT: %u %s", param->write.len, param->write.cong?"CONGESTED":"");
-        } else {
-            log_e("ESP_SPP_WRITE_EVT failed!, status:%d", param->write.status);
-        }
-        xSemaphoreGive(_spp_tx_done);//we can try to send another packet
-        break;
-
-    case ESP_SPP_DATA_IND_EVT://connection received data
-        log_v("ESP_SPP_DATA_IND_EVT len=%d handle=%d", param->data_ind.len, param->data_ind.handle);
-        //esp_log_buffer_hex("",param->data_ind.data,param->data_ind.len); //for low level debug
-        //ets_printf("r:%u\n", param->data_ind.len);
-
-        if(custom_data_callback){
-            custom_data_callback(param->data_ind.data, param->data_ind.len);
-        } else if (_spp_rx_queue != NULL){
-            for (int i = 0; i < param->data_ind.len; i++){
-                if(xQueueSend(_spp_rx_queue, param->data_ind.data + i, (TickType_t)0) != pdTRUE){
-                    log_e("RX Full! Discarding %u bytes", param->data_ind.len - i);
-                    break;
-                }
-            }
-        }
-        break;
-
-    case ESP_SPP_DISCOVERY_COMP_EVT://discovery complete
-        log_i("ESP_SPP_DISCOVERY_COMP_EVT");
-        if (param->disc_comp.status == ESP_SPP_SUCCESS) {
-            log_i("ESP_SPP_DISCOVERY_COMP_EVT: spp connect to remote");
-            esp_spp_connect(ESP_SPP_SEC_AUTHENTICATE, ESP_SPP_ROLE_MASTER, param->disc_comp.scn[0], _peer_bd_addr);
-        } else {
-            log_e("ESP_SPP_DISCOVERY_COMP_EVT failed!, status:%d", param->disc_comp.status);
-        }
-        break;
-
-    case ESP_SPP_OPEN_EVT://Client connection open
-        log_i("ESP_SPP_OPEN_EVT");
-        if (!_spp_client){
-                _spp_client = param->open.handle;
-        } else {
-            secondConnectionAttempt = true;
-            esp_spp_disconnect(param->open.handle);
-        }
-        xEventGroupClearBits(_spp_event_group, SPP_DISCONNECTED);
-        xEventGroupSetBits(_spp_event_group, SPP_CONNECTED);
-        xEventGroupSetBits(_spp_event_group, SPP_CONGESTED);
-        break;
-
-    case ESP_SPP_START_EVT://server started
-        log_i("ESP_SPP_START_EVT");
-        break;
-
-    case ESP_SPP_CL_INIT_EVT://client initiated a connection
-        log_i("ESP_SPP_CL_INIT_EVT");
-        break;
-
-    default:
-        break;
-    }
-    if(custom_spp_callback)(*custom_spp_callback)(event, param);
-}
-
-void BluetoothSerial::onData(BluetoothSerialDataCb cb){
-    custom_data_callback = cb;
-}
-
-static void esp_bt_gap_cb(esp_bt_gap_cb_event_t event, esp_bt_gap_cb_param_t *param)
-{
-    switch(event){
-        case ESP_BT_GAP_DISC_RES_EVT: {
-            log_i("ESP_BT_GAP_DISC_RES_EVT");
-#if (ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO)
-            char bda_str[18];
-            log_i("Scanned device: %s", bda2str(param->disc_res.bda, bda_str, 18));
-#endif
-            BTAdvertisedDeviceSet advertisedDevice;
-            uint8_t peer_bdname_len = 0;
-            char peer_bdname[ESP_BT_GAP_MAX_BDNAME_LEN + 1];
-            for (int i = 0; i < param->disc_res.num_prop; i++) {
-                switch(param->disc_res.prop[i].type) {
-                    case ESP_BT_GAP_DEV_PROP_EIR:  
-                        if (get_name_from_eir((uint8_t*)param->disc_res.prop[i].val, peer_bdname, &peer_bdname_len)) {
-                            log_i("ESP_BT_GAP_DISC_RES_EVT : EIR : %s : %d", peer_bdname, peer_bdname_len);
-                            if (strlen(_remote_name) == peer_bdname_len
-                                && strncmp(peer_bdname, _remote_name, peer_bdname_len) == 0) {
-                                log_v("ESP_BT_GAP_DISC_RES_EVT : SPP_START_DISCOVERY_EIR : %s", peer_bdname, peer_bdname_len);
-                                _isRemoteAddressSet = true;
-                                memcpy(_peer_bd_addr, param->disc_res.bda, ESP_BD_ADDR_LEN);
-                                esp_bt_gap_cancel_discovery();
-                                esp_spp_start_discovery(_peer_bd_addr);
-                            }
-                        }
-                        break;
-
-                    case ESP_BT_GAP_DEV_PROP_BDNAME:
-                        peer_bdname_len = param->disc_res.prop[i].len;
-                        memcpy(peer_bdname, param->disc_res.prop[i].val, peer_bdname_len);
-                        peer_bdname_len--; // len includes 0 terminator
-                        log_v("ESP_BT_GAP_DISC_RES_EVT : BDNAME :  %s : %d", peer_bdname, peer_bdname_len);
-                        if (strlen(_remote_name) == peer_bdname_len
-                            && strncmp(peer_bdname, _remote_name, peer_bdname_len) == 0) {
-                            log_i("ESP_BT_GAP_DISC_RES_EVT : SPP_START_DISCOVERY_BDNAME : %s", peer_bdname);
-                            _isRemoteAddressSet = true;
-                            memcpy(_peer_bd_addr, param->disc_res.bda, ESP_BD_ADDR_LEN);
-                            esp_bt_gap_cancel_discovery();
-                            esp_spp_start_discovery(_peer_bd_addr);
-                        } 
-                        break;
-
-                    case ESP_BT_GAP_DEV_PROP_COD:
-                        log_d("ESP_BT_GAP_DEV_PROP_COD");
-                        if (param->disc_res.prop[i].len <= sizeof(int)) {
-                            uint32_t cod = 0;
-                            memcpy(&cod, param->disc_res.prop[i].val, param->disc_res.prop[i].len);
-                            advertisedDevice.setCOD(cod);
-                        } else {
-                            log_d("Value size larger than integer");
-                        }
-                        break;
-
-                    case ESP_BT_GAP_DEV_PROP_RSSI:
-                        log_d("ESP_BT_GAP_DEV_PROP_RSSI");
-                        if (param->disc_res.prop[i].len <= sizeof(int)) {
-                            uint8_t rssi = 0;
-                            memcpy(&rssi, param->disc_res.prop[i].val, param->disc_res.prop[i].len);
-                            advertisedDevice.setRSSI(rssi);
-                        } else {
-                            log_d("Value size larger than integer");
-                        }
-                        break;
-                        
-                    default:
-                        break;
-                }
-                if (_isRemoteAddressSet)
-                    break;
-            }
-            if (peer_bdname_len)
-                advertisedDevice.setName(peer_bdname);
-            esp_bd_addr_t addr;
-            memcpy(addr, param->disc_res.bda, ESP_BD_ADDR_LEN);
-            advertisedDevice.setAddress(BTAddress(addr));
-            if (scanResults.add(advertisedDevice) && advertisedDeviceCb)
-                advertisedDeviceCb(&advertisedDevice);
-        }
-        break;
-
-        case ESP_BT_GAP_DISC_STATE_CHANGED_EVT:
-            log_i("ESP_BT_GAP_DISC_STATE_CHANGED_EVT");
-            if (param->disc_st_chg.state == ESP_BT_GAP_DISCOVERY_STOPPED) {
-                xEventGroupClearBits(_bt_event_group, BT_DISCOVERY_RUNNING);
-                xEventGroupSetBits(_bt_event_group, BT_DISCOVERY_COMPLETED);
-            } else { // ESP_BT_GAP_DISCOVERY_STARTED
-                xEventGroupClearBits(_bt_event_group, BT_DISCOVERY_COMPLETED);
-                xEventGroupSetBits(_bt_event_group, BT_DISCOVERY_RUNNING);
-            }
-            break;
-
-        case ESP_BT_GAP_RMT_SRVCS_EVT:
-            log_i( "ESP_BT_GAP_RMT_SRVCS_EVT: status = %d, num_uuids = %d", param->rmt_srvcs.stat, param->rmt_srvcs.num_uuids);
-            break;
-
-        case ESP_BT_GAP_RMT_SRVC_REC_EVT:
-            log_i("ESP_BT_GAP_RMT_SRVC_REC_EVT: status = %d", param->rmt_srvc_rec.stat);
-            break;
-
-        case ESP_BT_GAP_AUTH_CMPL_EVT:
-            if (param->auth_cmpl.stat == ESP_BT_STATUS_SUCCESS) {
-                log_v("authentication success: %s", param->auth_cmpl.device_name);
-                if (auth_complete_callback) {
-                    auth_complete_callback(true);
-                }
-            } else {
-                log_e("authentication failed, status:%d", param->auth_cmpl.stat);
-                if (auth_complete_callback) {
-                    auth_complete_callback(false);
-                }
-            }
-            break;
-
-        case ESP_BT_GAP_PIN_REQ_EVT:
-            // default pairing pins
-            log_i("ESP_BT_GAP_PIN_REQ_EVT min_16_digit:%d", param->pin_req.min_16_digit);
-            if (param->pin_req.min_16_digit) {
-                log_i("Input pin code: 0000 0000 0000 0000");
-                esp_bt_pin_code_t pin_code;
-                memset(pin_code, '0', ESP_BT_PIN_CODE_LEN);
-                esp_bt_gap_pin_reply(param->pin_req.bda, true, 16, pin_code);
-            } else {
-                log_i("Input pin code: 1234");
-                esp_bt_pin_code_t pin_code;
-                memcpy(pin_code, "1234", 4);
-                esp_bt_gap_pin_reply(param->pin_req.bda, true, 4, pin_code);
-            }
-            break;
-       
-        case ESP_BT_GAP_CFM_REQ_EVT:
-            log_i("ESP_BT_GAP_CFM_REQ_EVT Please compare the numeric value: %d", param->cfm_req.num_val);
-            if (confirm_request_callback) {
-                memcpy(current_bd_addr, param->cfm_req.bda, sizeof(esp_bd_addr_t));
-                confirm_request_callback(param->cfm_req.num_val);
-            }
-            else {
-                esp_bt_gap_ssp_confirm_reply(param->cfm_req.bda, true);
-            }
-            break;
-
-        case ESP_BT_GAP_KEY_NOTIF_EVT:
-            log_i("ESP_BT_GAP_KEY_NOTIF_EVT passkey:%d", param->key_notif.passkey);
-            break;
-
-        case ESP_BT_GAP_KEY_REQ_EVT:
-            log_i("ESP_BT_GAP_KEY_REQ_EVT Please enter passkey!");
-            break;
-
-        default:
-            break;
-    }
-}
-
-//static bool _init_bt(const char *deviceName)
-static bool _init_bt(const char *deviceName, uint16_t rxQueueSize, uint16_t txQueueSize)
-{
-    if(!_bt_event_group){
-        _bt_event_group = xEventGroupCreate();
-        if(!_bt_event_group){
-            log_e("BT Event Group Create Failed!");
-            return false;
-        }
-        xEventGroupClearBits(_bt_event_group, 0xFFFFFF);
-    }
-    if(!_spp_event_group){
-        _spp_event_group = xEventGroupCreate();
-        if(!_spp_event_group){
-            log_e("SPP Event Group Create Failed!");
-            return false;
-        }
-        xEventGroupClearBits(_spp_event_group, 0xFFFFFF);
-        xEventGroupSetBits(_spp_event_group, SPP_CONGESTED);
-        xEventGroupSetBits(_spp_event_group, SPP_DISCONNECTED);
-    }
-    if (_spp_rx_queue == NULL){
-        //_spp_rx_queue = xQueueCreate(RX_QUEUE_SIZE, sizeof(uint8_t)); //initialize the queue
-        _spp_rx_queue = xQueueCreate(rxQueueSize, sizeof(uint8_t)); //initialize the queue
-        if (_spp_rx_queue == NULL){
-            log_e("RX Queue Create Failed");
-            return false;
-        }
-    }
-    if (_spp_tx_queue == NULL){
-        //_spp_tx_queue = xQueueCreate(TX_QUEUE_SIZE, sizeof(spp_packet_t*)); //initialize the queue
-        _spp_tx_queue = xQueueCreate(txQueueSize, sizeof(spp_packet_t*)); //initialize the queue
-        if (_spp_tx_queue == NULL){
-            log_e("TX Queue Create Failed");
-            return false;
-        }
-    }
-    if(_spp_tx_done == NULL){
-        _spp_tx_done = xSemaphoreCreateBinary();
-        if (_spp_tx_done == NULL){
-            log_e("TX Semaphore Create Failed");
-            return false;
-        }
-        xSemaphoreTake(_spp_tx_done, 0);
-    }
-
-    if(!_spp_task_handle){
-        xTaskCreatePinnedToCore(_spp_tx_task, "spp_tx", 4096, NULL, 10, &_spp_task_handle, 0);
-        if(!_spp_task_handle){
-            log_e("Network Event Task Start Failed!");
-            return false;
-        }
-    }
-
-    if (!btStarted() && !btStart()){
-        log_e("initialize controller failed");
-        return false;
-    }
-    
-    esp_bluedroid_status_t bt_state = esp_bluedroid_get_status();
-    if (bt_state == ESP_BLUEDROID_STATUS_UNINITIALIZED){
-        if (esp_bluedroid_init()) {
-            log_e("initialize bluedroid failed");
-            return false;
-        }
-    }
-    
-    if (bt_state != ESP_BLUEDROID_STATUS_ENABLED){
-        if (esp_bluedroid_enable()) {
-            log_e("enable bluedroid failed");
-            return false;
-        }
-    }
-
-    // Why only master need this?  Slave need this during pairing as well
-//    if (_isMaster && esp_bt_gap_register_callback(esp_bt_gap_cb) != ESP_OK) {
-    if (esp_bt_gap_register_callback(esp_bt_gap_cb) != ESP_OK) {
-        log_e("gap register failed");
-        return false;
-    }
-
-    if (esp_spp_register_callback(esp_spp_cb) != ESP_OK){
-        log_e("spp register failed");
-        return false;
-    }
-
-    if (esp_spp_init(ESP_SPP_MODE_CB) != ESP_OK){
-        log_e("spp init failed");
-        return false;
-    }
-
-    // if (esp_bt_sleep_disable() != ESP_OK){
-    //     log_e("esp_bt_sleep_disable failed");
-    // }
-
-    log_i("device name set");
-    esp_bt_dev_set_device_name(deviceName);
-
-    if (_isPinSet) {
-        btSetPin();
-    }
-
-    if (_enableSSP) {
-        log_i("Simple Secure Pairing");
-        esp_bt_sp_param_t param_type = ESP_BT_SP_IOCAP_MODE;
-        esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_IO;
-        esp_bt_gap_set_security_param(param_type, &iocap, sizeof(uint8_t));
-    }
-
-    // the default BTA_DM_COD_LOUDSPEAKER does not work with the macOS BT stack
-    esp_bt_cod_t cod;
-    cod.major = 0b00001;
-    cod.minor = 0b000100;
-    cod.service = 0b00000010110;
-    if (esp_bt_gap_set_cod(cod, ESP_BT_INIT_COD) != ESP_OK) {
-        log_e("set cod failed");
-        return false;
-    }
-    return true;
-}
-
-static bool _stop_bt()
-{
-    if (btStarted()){
-        if(_spp_client)
-            esp_spp_disconnect(_spp_client);
-        esp_spp_deinit();
-        esp_bluedroid_disable();
-        esp_bluedroid_deinit();
-        btStop();
-    }
-    _spp_client = 0;
-    if(_spp_task_handle){
-        vTaskDelete(_spp_task_handle);
-        _spp_task_handle = NULL;
-    }
-    if(_spp_event_group){
-        vEventGroupDelete(_spp_event_group);
-        _spp_event_group = NULL;
-    }
-    if(_spp_rx_queue){
-        vQueueDelete(_spp_rx_queue);
-        //ToDo: clear RX queue when in packet mode
-        _spp_rx_queue = NULL;
-    }
-    if(_spp_tx_queue){
-        spp_packet_t *packet = NULL;
-        while(xQueueReceive(_spp_tx_queue, &packet, 0) == pdTRUE){
-            free(packet);
-        }
-        vQueueDelete(_spp_tx_queue);
-        _spp_tx_queue = NULL;
-    }
-    if (_spp_tx_done) {
-        vSemaphoreDelete(_spp_tx_done);
-        _spp_tx_done = NULL;
-    }
-    if (_bt_event_group) {
-        vEventGroupDelete(_bt_event_group);
-        _bt_event_group = NULL;
-    }
-    return true;
-}
-
-static bool waitForConnect(int timeout) {
-    TickType_t xTicksToWait = timeout / portTICK_PERIOD_MS;
-    return (xEventGroupWaitBits(_spp_event_group, SPP_CONNECTED, pdFALSE, pdTRUE, xTicksToWait) & SPP_CONNECTED) != 0;
-}
-
-static bool waitForDiscovered(int timeout) {
-    TickType_t xTicksToWait = timeout / portTICK_PERIOD_MS;
-    return (xEventGroupWaitBits(_spp_event_group, BT_DISCOVERY_COMPLETED, pdFALSE, pdTRUE, xTicksToWait) & BT_DISCOVERY_COMPLETED) != 0;
-}
-
-/*
- * Serial Bluetooth Arduino
- *
- * */
-
-BluetoothSerial::BluetoothSerial()
-{
-    local_name = "ESP32"; //default bluetooth name
-}
-
-BluetoothSerial::~BluetoothSerial(void)
-{
-    _stop_bt();
-}
-
-//bool BluetoothSerial::begin(String localName, bool isMaster)
-bool BluetoothSerial::begin(String localName, bool isMaster, uint16_t rxQueueSize, uint16_t txQueueSize)
-{
-    _isMaster = isMaster;
-    if (localName.length()){
-        local_name = localName;
-    }
-    //return _init_bt(local_name.c_str());
-    return _init_bt(local_name.c_str(), rxQueueSize, txQueueSize);
-}
-
-int BluetoothSerial::available(void)
-{
-    if (_spp_rx_queue == NULL){
-        return 0;
-    }
-    return uxQueueMessagesWaiting(_spp_rx_queue);
-}
-
-int BluetoothSerial::peek(void)
-{
-    uint8_t c;
-    if (_spp_rx_queue && xQueuePeek(_spp_rx_queue, &c, 0)){
-        return c;
-    }
-    return -1;
-}
-
-bool BluetoothSerial::hasClient(void)
-{
-    return _spp_client > 0;
-}
-
-int BluetoothSerial::read(void)
-{
-
-    uint8_t c = 0;
-    if (_spp_rx_queue && xQueueReceive(_spp_rx_queue, &c, 0)){
-        return c;
-    }
-    return -1;
-}
-
-size_t BluetoothSerial::write(uint8_t c)
-{
-    return write(&c, 1);
-}
-
-size_t BluetoothSerial::write(const uint8_t *buffer, size_t size)
-{
-    if (!_spp_client){
-        return 0;
-    }
-    return (_spp_queue_packet((uint8_t *)buffer, size) == ESP_OK) ? size : 0;
-}
-
-void BluetoothSerial::flush()
-{
-    if (_spp_tx_queue != NULL){
-        while(uxQueueMessagesWaiting(_spp_tx_queue) > 0){
-           delay(100);
-        }
-    }
-}
-
-void BluetoothSerial::end()
-{
-    _stop_bt();
-}
-
-void BluetoothSerial::onConfirmRequest(ConfirmRequestCb cb)
-{
-    confirm_request_callback = cb;
-}
-
-void BluetoothSerial::onAuthComplete(AuthCompleteCb cb)
-{
-    auth_complete_callback = cb;
-}
-
-void BluetoothSerial::confirmReply(boolean confirm)
-{
-    esp_bt_gap_ssp_confirm_reply(current_bd_addr, confirm);  
-}
-
-
-esp_err_t BluetoothSerial::register_callback(esp_spp_cb_t * callback)
-{
-    custom_spp_callback = callback;
-    return ESP_OK;
-}
-
-//Simple Secure Pairing
-void BluetoothSerial::enableSSP() {
-    _enableSSP = true;
-}
-/*
-     * Set default parameters for Legacy Pairing
-     * Use fixed pin code
-*/
-bool BluetoothSerial::setPin(const char *pin) {
-    bool isEmpty =  !(pin  && *pin);
-    if (isEmpty && !_isPinSet) {
-        return true; // nothing to do
-    } else if (!isEmpty){
-        _pin_len = strlen(pin);
-        memcpy(_pin_code, pin, _pin_len);
-    } else {
-        _pin_len = 0; // resetting pin to none (default)
-    }
-    _pin_code[_pin_len] = 0;
-    _isPinSet = true;
-    if (isReady(false, READY_TIMEOUT)) {
-        btSetPin();
-    }
-    return true;
-}
-
-bool BluetoothSerial::connect(String remoteName)
-{
-    if (!isReady(true, READY_TIMEOUT)) return false;
-    if (remoteName && remoteName.length() < 1) {
-        log_e("No remote name is provided");
-        return false; 
-    }
-    disconnect();
-    _isRemoteAddressSet = false;
-    strncpy(_remote_name, remoteName.c_str(), ESP_BT_GAP_MAX_BDNAME_LEN);
-    _remote_name[ESP_BT_GAP_MAX_BDNAME_LEN] = 0;
-    log_i("master : remoteName");
-    // will first resolve name to address
-#ifdef ESP_IDF_VERSION_MAJOR
-        esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
-#else
-        esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
-#endif
-    if (esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, INQ_LEN, INQ_NUM_RSPS) == ESP_OK) {
-        return waitForConnect(SCAN_TIMEOUT);
-    }
-    return false;
-}
-
-bool BluetoothSerial::connect(uint8_t remoteAddress[])
-{
-    if (!isReady(true, READY_TIMEOUT)) return false;
-    if (!remoteAddress) {
-        log_e("No remote address is provided");
-        return false; 
-    }
-    disconnect();
-    _remote_name[0] = 0;
-    _isRemoteAddressSet = true;
-    memcpy(_peer_bd_addr, remoteAddress, ESP_BD_ADDR_LEN);
-    log_i("master : remoteAddress");
-    if (esp_spp_start_discovery(_peer_bd_addr) == ESP_OK) {
-        return waitForConnect(READY_TIMEOUT);
-    }
-    return false;
-}
-
-bool BluetoothSerial::connect()
-{
-    if (!isReady(true, READY_TIMEOUT)) return false;
-    if (_isRemoteAddressSet){
-        disconnect();
-        // use resolved or set address first
-        log_i("master : remoteAddress");
-        if (esp_spp_start_discovery(_peer_bd_addr) == ESP_OK) {
-            return waitForConnect(READY_TIMEOUT);
-        }
-        return false;
-    } else if (_remote_name[0]) {
-        disconnect();
-        log_i("master : remoteName");
-        // will resolve name to address first - it may take a while
-#ifdef ESP_IDF_VERSION_MAJOR
-        esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
-#else
-        esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
-#endif
-        if (esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, INQ_LEN, INQ_NUM_RSPS) == ESP_OK) {
-            return waitForConnect(SCAN_TIMEOUT);
-        }
-        return false;
-    }
-    log_e("Neither Remote name nor address was provided");
-    return false;
-}
-
-bool BluetoothSerial::disconnect() {
-    if (_spp_client) {
-        flush();
-        log_i("disconnecting");
-        if (esp_spp_disconnect(_spp_client) == ESP_OK) {
-            TickType_t xTicksToWait = READY_TIMEOUT / portTICK_PERIOD_MS;
-            return (xEventGroupWaitBits(_spp_event_group, SPP_DISCONNECTED, pdFALSE, pdTRUE, xTicksToWait) & SPP_DISCONNECTED) != 0;
-        }
-    }
-    return false;
-}
-
-bool BluetoothSerial::unpairDevice(uint8_t remoteAddress[]) {
-    if (isReady(false, READY_TIMEOUT)) {
-        log_i("removing bonded device");
-        return (esp_bt_gap_remove_bond_device(remoteAddress) == ESP_OK);
-    }
-    return false;
-}
-
-bool BluetoothSerial::connected(int timeout) {
-    return waitForConnect(timeout);
-}
-
-bool BluetoothSerial::isReady(bool checkMaster, int timeout) {
-    if (checkMaster && !_isMaster) {
-        log_e("Master mode is not active. Call begin(localName, true) to enable Master mode");
-        return false;
-    }
-    if (!btStarted()) {
-        log_e("BT is not initialized. Call begin() first");
-        return false;
-    }
-    TickType_t xTicksToWait = timeout / portTICK_PERIOD_MS;
-    return (xEventGroupWaitBits(_spp_event_group, SPP_RUNNING, pdFALSE, pdTRUE, xTicksToWait) & SPP_RUNNING) != 0;
-}
-
-
-/**
- * @brief           RemoteName or address are not allowed to be set during discovery
- *                  (otherwhise it might connect automatically and stop discovery)
- * @param[in]       timeoutMs can range from MIN_INQ_TIME to MAX_INQ_TIME
- * @return          in case of Error immediately Empty ScanResults.
- */
-BTScanResults* BluetoothSerial::discover(int timeoutMs) {
-    scanResults.clear();
-    if (timeoutMs < MIN_INQ_TIME || timeoutMs > MAX_INQ_TIME || strlen(_remote_name) || _isRemoteAddressSet)
-        return nullptr;
-    int timeout = timeoutMs / INQ_TIME;
-    log_i("discover::disconnect");
-    disconnect();
-    log_i("discovering");
-    // will resolve name to address first - it may take a while
-    esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
-    if (esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, timeout, 0) == ESP_OK) {
-        waitForDiscovered(timeoutMs);
-        esp_bt_gap_cancel_discovery();
-    }
-    return &scanResults;
-}
-
-/**
- * @brief           RemoteName or address are not allowed to be set during discovery
- *                  (otherwhise it might connect automatically and stop discovery)
- * @param[in]       cb called when a [b]new[/b] device has been discovered
- * @param[in]       timeoutMs can be 0 or range from MIN_INQ_TIME to MAX_INQ_TIME
- *
- * @return          Wheter start was successfull or problems with params
- */
-bool BluetoothSerial::discoverAsync(BTAdvertisedDeviceCb cb, int timeoutMs) {
-    scanResults.clear();
-    if (strlen(_remote_name) || _isRemoteAddressSet)
-        return false;
-    int timeout = timeoutMs / INQ_TIME;
-    disconnect();
-    advertisedDeviceCb = cb;
-    log_i("discovering");
-    // will resolve name to address first - it may take a while
-    esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
-    if (timeout > 0)
-        return esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, timeout, 0) == ESP_OK;
-    else return esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, ESP_BT_GAP_MAX_INQ_LEN, 0) == ESP_OK;
-}
-
-/** @brief      Stops the asynchronous discovery and clears the callback */
-void BluetoothSerial::discoverAsyncStop() {
-    esp_bt_gap_cancel_discovery();
-    advertisedDeviceCb = nullptr;
-}
-
-/** @brief      Clears scanresult entries */
-void BluetoothSerial::discoverClear() {
-    scanResults.clear();
-}
-
-/** @brief      Can be used while discovering asynchronously
- *              Will be returned also on synchronous discovery.
- *
- * @return      BTScanResults contains several information of found devices
- */
-BTScanResults* BluetoothSerial::getScanResults() {
-    return &scanResults;
-}
-
-BluetoothSerial::operator bool() const
-{
-    return true;
-}
-
-bool BluetoothSerial::isCongested(){
-    return(!(xEventGroupGetBits(_spp_event_group) & SPP_CONGESTED));
-}
-#endif
diff --git a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.h b/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.h
deleted file mode 100644
index 174faf31d..000000000
--- a/Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.h
+++ /dev/null
@@ -1,90 +0,0 @@
-// Copyright 2018 Evandro Luis Copercini
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef _BLUETOOTH_SERIAL_H_
-#define _BLUETOOTH_SERIAL_H_
-
-#include "sdkconfig.h"
-
-#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
-
-#include "Arduino.h"
-#include "Stream.h"
-#include <esp_gap_bt_api.h>
-#include <esp_spp_api.h>
-#include <functional>
-#include "BTScan.h"
-
-typedef std::function<void(const uint8_t *buffer, size_t size)> BluetoothSerialDataCb;
-typedef std::function<void(uint32_t num_val)> ConfirmRequestCb;
-typedef std::function<void(boolean success)> AuthCompleteCb;
-typedef std::function<void(BTAdvertisedDevice* pAdvertisedDevice)> BTAdvertisedDeviceCb;
-
-class BluetoothSerial: public Stream
-{
-    public:
-
-        BluetoothSerial(void);
-        ~BluetoothSerial(void);
-
-        bool begin(String localName=String(), bool isMaster=false, uint16_t rxQueueSize = 512 * 4, uint16_t txQueueSize = 512);
-        bool begin(unsigned long baud){//compatibility
-            return begin();
-        }
-        int available(void);
-        int peek(void);
-        bool hasClient(void);
-        int read(void);
-        size_t write(uint8_t c);
-        size_t write(const uint8_t *buffer, size_t size);
-        void flush();
-        void end(void);
-        void onData(BluetoothSerialDataCb cb);
-        esp_err_t register_callback(esp_spp_cb_t * callback);
-        
-        void onConfirmRequest(ConfirmRequestCb cb);
-        void onAuthComplete(AuthCompleteCb cb);
-        void confirmReply(boolean confirm);
-
-        void enableSSP();
-        bool setPin(const char *pin);
-        bool connect(String remoteName);
-        bool connect(uint8_t remoteAddress[]);
-        bool connect();
-        bool connected(int timeout=0);
-        bool isReady(bool checkMaster=false, int timeout=0);
-        bool disconnect();
-        bool unpairDevice(uint8_t remoteAddress[]);
-
-        BTScanResults* discover(int timeout=0x30*1280);
-        bool discoverAsync(BTAdvertisedDeviceCb cb, int timeout=0x30*1280);
-        void discoverAsyncStop();
-        void discoverClear();
-        BTScanResults* getScanResults();
-        
-        const int INQ_TIME = 1280;   // Inquire Time unit 1280 ms
-        const int MIN_INQ_TIME = (ESP_BT_GAP_MIN_INQ_LEN * INQ_TIME);
-        const int MAX_INQ_TIME = (ESP_BT_GAP_MAX_INQ_LEN * INQ_TIME);
-        
-        operator bool() const;
-
-        bool isCongested();
-    private:
-        String local_name;
-
-};
-
-#endif
-
-#endif

From 4fe6ab9489f6041c81704ba6e998913740810cfe Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 16:49:27 -0600
Subject: [PATCH 070/134] Display hello world

---
 Firmware/Test Sketches/System_Check/Display.ino    | 14 +++++---------
 .../Test Sketches/System_Check/System_Check.ino    |  6 ++----
 2 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/Firmware/Test Sketches/System_Check/Display.ino b/Firmware/Test Sketches/System_Check/Display.ino
index 166f91fbb..a54eb8698 100644
--- a/Firmware/Test Sketches/System_Check/Display.ino	
+++ b/Firmware/Test Sketches/System_Check/Display.ino	
@@ -26,24 +26,20 @@ void beginDisplay()
   }
 }
 
-//Attempt to send to display regardless of its online status
-//The I2C bus may allow it even if bus is misbehaving
 void displayHelloWorld()
 {
-  //if (online.display == true)
-  //{
+  if (online.display == true)
+  {
     oled.erase();
 
     uint8_t fontHeight = 15;
     uint8_t yPos = oled.getHeight() / 2 - fontHeight;
 
-    printTextCenter("Accel", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
-    printTextCenter("Failed", yPos + fontHeight, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
+    printTextCenter("Hello", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
+    printTextCenter("World", yPos + fontHeight, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
 
     oled.display();
-
-//    delay(displayTime);
-  //}
+  }
 }
 
 //Given text, and location, print text center of the screen
diff --git a/Firmware/Test Sketches/System_Check/System_Check.ino b/Firmware/Test Sketches/System_Check/System_Check.ino
index 7942a4e2d..3e11f1b62 100644
--- a/Firmware/Test Sketches/System_Check/System_Check.ino	
+++ b/Firmware/Test Sketches/System_Check/System_Check.ino	
@@ -245,7 +245,7 @@ void setup()
   Wire.beginTransmission(0x15); //Dummy address
   int endValue = Wire.endTransmission();
   Serial.printf("Response time: %d endValue: %d\n\r", millis() - startTime, endValue);
-  if(endValue == 2)
+  if (endValue == 2)
     online.i2c = true;
   else if (endValue == 5)
     Serial.println("It appears something is shorting the I2C lines.");
@@ -257,15 +257,13 @@ void setup()
     beginGNSS(); //Connect to GNSS to get module type
 
     beginDisplay(); //Start display first to be able to display any errors
+    displayHelloWorld(); //Display something
 
     beginFuelGauge(); //Configure battery fuel guage monitor
   }
 
   beginSD(); //Test if SD is present
 
-  beginDisplay(); //Start display first to be able to display any errors
-  displayHelloWorld(); //Display something, ignore I2C bus status
-  
   menuSystem();
 }
 

From 2bd75083c7db55e8fe85bb30d7d80d838405d952 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 16:53:14 -0600
Subject: [PATCH 071/134] Add blinking icon during AP config

---
 Firmware/RTK_Surveyor/Display.ino | 58 ++++++++++++++++++++-----------
 1 file changed, 38 insertions(+), 20 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 53683b2bb..8640d30b2 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -280,8 +280,8 @@ void updateDisplay()
           displayWiFiConfigNotStarted(); //Display 'WiFi Config'
           break;
         case (STATE_WIFI_CONFIG):
-          //TODO Remove radio icons from displayWiFi config
-          icons = displayWiFiConfig(); //Display SSID and IP
+          iconsRadio = setWiFiIcon(); //Blink WiFi in center
+          displayWiFiConfig(); //Display SSID and IP
           break;
         case (STATE_TEST):
           paintSystemTest();
@@ -297,11 +297,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_WIFI_STARTED):
-          iconsRadio = setRadioIcons();  //Top left
+          iconsRadio = setWiFiIcon(); //Blink WiFi in center
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_CONNECTED):
-          iconsRadio = setRadioIcons();  //Top left
+          iconsRadio = setWiFiIcon(); //Blink WiFi in center
           paintGettingKeys();
           break;
         case (STATE_KEYS_WIFI_TIMEOUT):
@@ -320,11 +320,11 @@ void updateDisplay()
           //Do nothing. Quick, fall through state.
           break;
         case (STATE_KEYS_PROVISION_WIFI_STARTED):
-          iconsRadio = setRadioIcons();  //Top left
+          iconsRadio = setWiFiIcon(); //Blink WiFi in center
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_CONNECTED):
-          iconsRadio = setRadioIcons();  //Top left
+          iconsRadio = setWiFiIcon(); //Blink WiFi in center
           paintGettingKeys();
           break;
         case (STATE_KEYS_PROVISION_WIFI_TIMEOUT):
@@ -1045,6 +1045,37 @@ uint32_t setWiFiIcon_ThreeRadios()
   return (icons);
 }
 
+//Bluetooth and ESP Now icons off. WiFi in middle.
+//Blink while no clients are connected
+uint32_t setWiFiIcon()
+{
+  uint32_t icons = 0;
+
+  if (online.display == true)
+  {
+    if (wifiState == WIFI_CONNECTED)
+    {
+      icons |= ICON_WIFI_SYMBOL_3_RIGHT;
+    }
+    else
+    {
+      //Limit how often we update this spot
+      if (millis() - thirdRadioSpotTimer > 1000)
+      {
+        thirdRadioSpotTimer = millis();
+        thirdRadioSpotBlink ^= 1; //Blink this icon
+      }
+
+      if (thirdRadioSpotBlink == false)
+        icons |= ICON_BLANK_RIGHT;
+      else
+        icons |= ICON_WIFI_SYMBOL_3_RIGHT;
+    }
+  }
+
+  return (icons);
+}
+
 //Based on system state, turn on the various Rover, Base, Fixed Base icons
 uint32_t setModeIcon()
 {
@@ -1627,22 +1658,10 @@ void displayWiFiConfigNotStarted()
   displayMessage("WiFi Config", 0);
 }
 
-uint32_t displayWiFiConfig()
+void displayWiFiConfig()
 {
   uint32_t icons;
 
-  //Draw the WiFi icon
-  icons = 0;
-  if (wifiState == WIFI_NOTCONNECTED)
-  {
-    //Blink WiFi icon
-    blinking_icons ^= ICON_WIFI_SYMBOL_3_RIGHT;
-    if (blinking_icons & ICON_WIFI_SYMBOL_3_RIGHT)
-      icons = ICON_WIFI_SYMBOL_3_RIGHT;
-  }
-  else if (wifiState == WIFI_CONNECTED)
-    icons = ICON_WIFI_SYMBOL_3_RIGHT;
-
   int yPos = WiFi_Symbol_Height + 2;
   int fontHeight = 8;
 
@@ -1656,7 +1675,6 @@ uint32_t displayWiFiConfig()
 
   yPos = yPos + fontHeight + 1;
   printTextCenter("192.168.4.1", yPos, QW_FONT_5X7, 1, false);
-  return icons;
 }
 
 //When user does a factory reset, let us know

From 17d727df8f7da123962eaa8858eef83ec42062e7 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 16:57:39 -0600
Subject: [PATCH 072/134] Remove requirement for Client mountpoint PW

Many mountpoints do not need a password for client access
---
 Firmware/RTK_Surveyor/AP-Config/src/main.js |  1 -
 Firmware/RTK_Surveyor/form.h                | 10 ----------
 2 files changed, 11 deletions(-)

diff --git a/Firmware/RTK_Surveyor/AP-Config/src/main.js b/Firmware/RTK_Surveyor/AP-Config/src/main.js
index 5ccabeba0..8798dc22d 100644
--- a/Firmware/RTK_Surveyor/AP-Config/src/main.js
+++ b/Firmware/RTK_Surveyor/AP-Config/src/main.js
@@ -232,7 +232,6 @@ function validateFields() {
         checkElementString("ntripClient_CasterHost", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
         checkElementValue("ntripClient_CasterPort", 1, 99999, "Must be 1 to 99999", "collapseGNSSConfig");
         checkElementString("ntripClient_MountPoint", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
-        checkElementString("ntripClient_MountPointPW", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
     }
     else {
         clearElement("ntripClient_wifiSSID", "TRex");
diff --git a/Firmware/RTK_Surveyor/form.h b/Firmware/RTK_Surveyor/form.h
index 6c6750151..f0de15f0c 100644
--- a/Firmware/RTK_Surveyor/form.h
+++ b/Firmware/RTK_Surveyor/form.h
@@ -255,7 +255,6 @@ function validateFields() {
         checkElementString("ntripClient_CasterHost", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
         checkElementValue("ntripClient_CasterPort", 1, 99999, "Must be 1 to 99999", "collapseGNSSConfig");
         checkElementString("ntripClient_MountPoint", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
-        checkElementString("ntripClient_MountPointPW", 1, 30, "Must be 1 to 30 characters", "collapseGNSSConfig");
     }
     else {
         clearElement("ntripClient_wifiSSID", "TRex");
@@ -715,19 +714,10 @@ function firmwareUploadComplete() {
 
 document.addEventListener("DOMContentLoaded", (event) => {
 
-    //https://stackoverflow.com/questions/23835150/how-can-i-add-an-event-listener-for-multiple-buttons-with-same-class-name
     var radios = document.querySelectorAll('input[name=profileRadio]');
     for(var i = 0, max = radios.length; i < max; i++) {
         radios[i].onclick = function() {
-            
-            console.log("Profile number: " + this.value);
-            
-            //Validate. If fail, reset radio button value to original
             changeConfig();
-
-            //Record previous settings to unit
-
-            //Request unit for new settings
         }
     }
 

From a4a4ebf2f6413622e4cbd6c48bbda149332ef5af Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 17:09:52 -0600
Subject: [PATCH 073/134] Condense timezone menu

---
 Firmware/RTK_Surveyor/menuSystem.ino | 57 ++++++++++++----------------
 1 file changed, 24 insertions(+), 33 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 10559dd37..145e9682a 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -148,9 +148,8 @@ void menuSystem()
     }
 
     Serial.println("d) Configure Debug");
-    Serial.printf("h) Set time zone hours: %d\r\n", settings.timeZoneHours);
-    Serial.printf("m) Set time zone minutes: %d\r\n", settings.timeZoneMinutes);
-    Serial.printf("s) Set time zone seconds: %d\r\n", settings.timeZoneSeconds);
+
+    Serial.printf("z) Set time zone offset: %02d:%02d:%02d\r\n", settings.timeZoneHours, settings.timeZoneMinutes, settings.timeZoneSeconds);
 
     Serial.print(F("b) Set Bluetooth Mode: "));
     if (settings.enableBLE == true)
@@ -172,7 +171,7 @@ void menuSystem()
 
     if (incoming == 'd')
       menuDebug();
-    else if (incoming == 'h')
+    else if (incoming == 'z')
     {
       Serial.print("Enter time zone hour offset (-23 <= offset <= 23): ");
       int64_t value = getNumber(menuTimeout);
@@ -181,35 +180,27 @@ void menuSystem()
       else
       {
         settings.timeZoneHours = value;
-        online.rtc = false;
-        updateRTC();
-      }
-    }
-    else if (incoming == 'm')
-    {
-      Serial.print("Enter time zone minute offset (-59 <= offset <= 59): ");
-      int64_t value = getNumber(menuTimeout);
-      if (value < -59 || value > 59)
-        Serial.println("Error: -60 < minutes < 60");
-      else
-      {
-        settings.timeZoneMinutes = value;
-        online.rtc = false;
-        updateRTC();
-      }
-    }
-    else if (incoming == 's')
-    {
-      Serial.print("Enter time zone second offset (-59 <= offset <= 59): ");
-      int64_t value = getNumber(menuTimeout);
-      if (value < -59 || value > 59)
-        Serial.println("Error: -60 < seconds < 60");
-      else
-      {
-        settings.timeZoneSeconds = value;
-        online.rtc = false;
-        updateRTC();
-      }
+
+        Serial.print("Enter time zone minute offset (-59 <= offset <= 59): ");
+        int64_t value = getNumber(menuTimeout);
+        if (value < -59 || value > 59)
+          Serial.println("Error: -60 < minutes < 60");
+        else
+        {
+          settings.timeZoneMinutes = value;
+
+          Serial.print("Enter time zone second offset (-59 <= offset <= 59): ");
+          int64_t value = getNumber(menuTimeout);
+          if (value < -59 || value > 59)
+            Serial.println("Error: -60 < seconds < 60");
+          else
+          {
+            settings.timeZoneSeconds = value;
+            online.rtc = false;
+            updateRTC();
+          } //Succesful seconds
+        } //Succesful minute
+      } //Succesful hours
     }
     else if (incoming == 'b')
     {

From 97319bf27cca61634a884a33a7acb061a6436bef Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 17:15:17 -0600
Subject: [PATCH 074/134] Fix debug level

---
 .github/workflows/compile-rc.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/compile-rc.yml b/.github/workflows/compile-rc.yml
index 308cdbbfd..fa614c9b6 100644
--- a/.github/workflows/compile-rc.yml
+++ b/.github/workflows/compile-rc.yml
@@ -53,7 +53,7 @@ jobs:
           --build-property build.partitions=partitions
           --build-property upload.maximum_size=3145728 
           --export-binaries
-          --build-property DebugLevel.debug.build.code_debug=4
+          --build-property DebugLevel=debug
           --build-property "compiler.cpp.extra_flags=\"-DPOINTPERFECT_TOKEN=$POINTPERFECT_TOKEN\""
 
       - name: Get current date

From 07e0eb4e5a029cce8329ad87c00347ee444a62b1 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 17 Aug 2022 17:23:30 -0600
Subject: [PATCH 075/134] Update compile-rc.yml

---
 .github/workflows/compile-rc.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/compile-rc.yml b/.github/workflows/compile-rc.yml
index fa614c9b6..dbf71cff4 100644
--- a/.github/workflows/compile-rc.yml
+++ b/.github/workflows/compile-rc.yml
@@ -49,11 +49,10 @@ jobs:
           https://github.com/avinabmalla/ESP32_BleSerial.git
           
       - name: Compile Sketch
-        run: arduino-cli compile --fqbn esp32:esp32:esp32 ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
+        run: arduino-cli compile --fqbn esp32:esp32:esp32:DebugLevel=debug ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
           --build-property build.partitions=partitions
           --build-property upload.maximum_size=3145728 
           --export-binaries
-          --build-property DebugLevel=debug
           --build-property "compiler.cpp.extra_flags=\"-DPOINTPERFECT_TOKEN=$POINTPERFECT_TOKEN\""
 
       - name: Get current date

From 69f251e6db95928d77d69dccceed1a49d6296a6e Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Wed, 17 Aug 2022 09:34:39 -1000
Subject: [PATCH 076/134] Update the Linux build instructions

Specify version 2.0.2 for the ESP32 version
Specify the 16MB partition file
Use 230400 for the upload speed, works on older platforms
On Linux, the arduino application has a lower case 'a'
---
 docs/firmware_update.md | 42 ++++++++++++++++++++++-------------------
 1 file changed, 23 insertions(+), 19 deletions(-)

diff --git a/docs/firmware_update.md b/docs/firmware_update.md
index 9b49b9dc2..0895a814f 100644
--- a/docs/firmware_update.md
+++ b/docs/firmware_update.md
@@ -341,9 +341,9 @@ Insert the following text into the file:
     #      1: ttyUSBn
     #      2: Firmware file
     #
-    sudo python3 ~/.arduino15/packages/esp32/tools/esptool_py/*/esptool.py --chip esp32 --port /dev/$1 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect \
+    sudo python3 ~/.arduino15/packages/esp32/tools/esptool_py/*/esptool.py --chip esp32 --port /dev/$1 --baud 230400 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect \
     0x1000   ~/SparkFun/RTK/Binaries/bin/RTK_Surveyor.ino.bootloader.bin \
-    0x8000   ~/SparkFun/RTK/Binaries/bin/RTK_Surveyor.ino.partitions.bin \
+    0x8000   ~/SparkFun/RTK/Binaries/bin/RTK_Surveyor_Partitions_16MB.bin \
     0xe000   ~/SparkFun/RTK/Binaries/bin/boot_app0.bin \
     0x10000  $2
 
@@ -366,7 +366,7 @@ Install the Arduino IDE
 
 Add the ESP32 support
 
-24. Arduino
+24. arduino
     1. Click on File in the menu bar
     2. Click on Preferences
     3. Go down to the Additional Boards Manager URLs text box
@@ -394,7 +394,7 @@ Connect the Config ESP32 port of the RTK to a USB port on the computer
 
 Enable the libraries in the Arduino IDE
 
-34. Arduino
+34. arduino
     1. From the menu, click on File
     2. Click on Open...
     3. Select the ~/SparkFun/RTK/Firmware/RTK_Surveyor/RTK_Surveyor.ino file
@@ -406,12 +406,13 @@ Enable the libraries in the Arduino IDE
     6. Click on Board
     7. Click on Board Manager…
     8. Click on esp32
-    9. Click on the Install button in the lower right
-    10. Close the Board Manager...
-    11. From the menu, click on Tools
-    12. Click on Board
-    13. Click on ESP32 Arduino
-    14. Click on ESP32 Dev Module
+    9. Select version 2.0.2
+    10. Click on the Install button in the lower right
+    11. Close the Board Manager...
+    12. From the menu, click on Tools
+    13. Click on Board
+    14. Click on ESP32 Arduino
+    15. Click on ESP32 Dev Module
 
     Load the required libraries
 
@@ -426,6 +427,7 @@ Enable the libraries in the Arduino IDE
 
         * ArduinoJson
         * ESP32Time
+        * ESP32_BleSerial
         * JC_Button
         * MAX17048 - Used for “Test Sketch/Batt_Monitor”
         * PubSubClient
@@ -442,17 +444,19 @@ Enable the libraries in the Arduino IDE
     19. From the menu, click on Tools
     20. Click on Port, Select the port that was displayed in step 38 above
     21. Select /dev/ttyUSB0
+    22. Click on Upload Speed
+    23. Select 230400
 
     Setup the partitions for the 16 MB flash
 
-    22. From the menu, click on Tools
-    23. Click on Flash Size
-    24. Select 16MB
-    25. From the menu, click on Tools
-    26. Click on Partition Scheme
-    27. Click on 16M Flash (3MB APP/9MB FATFS)
-    28. From the menu click on File
-    29. Click on Quit
+    24. From the menu, click on Tools
+    25. Click on Flash Size
+    26. Select 16MB
+    27. From the menu, click on Tools
+    28. Click on Partition Scheme
+    29. Click on 16M Flash (3MB APP/9MB FATFS)
+    30. From the menu click on File
+    31. Click on Quit
 
 35. cd ~/SparkFun/RTK/
-36. cp  Firmware/app3M_fat9M_16MB.csv  ~/.arduino15/packages/esp32/hardware/esp32/2.0.3/tools/partitions/app3M_fat9M_16MB.csv
+36. cp  Firmware/app3M_fat9M_16MB.csv  ~/.arduino15/packages/esp32/hardware/esp32/2.0.2/tools/partitions/app3M_fat9M_16MB.csv

From 4bfd89adfffd62e111532eb4b8c74981352273b2 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 10:19:27 -0600
Subject: [PATCH 077/134] Fix debug level on RC workflow

---
 .github/workflows/compile-rc.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/compile-rc.yml b/.github/workflows/compile-rc.yml
index dbf71cff4..058524f10 100644
--- a/.github/workflows/compile-rc.yml
+++ b/.github/workflows/compile-rc.yml
@@ -49,11 +49,11 @@ jobs:
           https://github.com/avinabmalla/ESP32_BleSerial.git
           
       - name: Compile Sketch
-        run: arduino-cli compile --fqbn esp32:esp32:esp32:DebugLevel=debug ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
+        run: arduino-cli compile --fqbn "esp32:esp32:esp32":DebugLevel=debug ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
           --build-property build.partitions=partitions
           --build-property upload.maximum_size=3145728 
-          --export-binaries
           --build-property "compiler.cpp.extra_flags=\"-DPOINTPERFECT_TOKEN=$POINTPERFECT_TOKEN\""
+          --export-binaries
 
       - name: Get current date
         id: date

From 75c99d7b7f0a1dbdceca572f525eca35845dbbba Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 10:24:45 -0600
Subject: [PATCH 078/134] Create compile-release.yml

---
 .github/workflows/compile-release.yml | 72 +++++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100644 .github/workflows/compile-release.yml

diff --git a/.github/workflows/compile-release.yml b/.github/workflows/compile-release.yml
new file mode 100644
index 000000000..bc6f5fdf7
--- /dev/null
+++ b/.github/workflows/compile-release.yml
@@ -0,0 +1,72 @@
+name: Build Release
+on: 
+  workflow_dispatch:
+    branches: 
+      - main
+
+env:
+  FILENAME_PREFIX: RTK_Surveyor_Firmware_v2.4
+  POINTPERFECT_TOKEN: ${{ secrets.POINTPERFECT_TOKEN }}
+
+jobs:
+  build:
+    
+    name: Build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v1
+
+      #We limit the ESP32 core to v2.0.2
+      - name: Install platform
+        run: arduino-cli core install esp32:esp32@2.0.2 
+          --additional-urls 'https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json'
+
+      - name: Start config file
+        run: arduino-cli config init
+
+      - name: Enable external libs
+        run: arduino-cli config set library.enable_unsafe_install true
+
+      - name: Get Libraries
+        run: arduino-cli lib install --git-url 
+          https://github.com/fbiego/ESP32Time.git
+          https://github.com/me-no-dev/ESPAsyncWebServer.git 
+          https://github.com/me-no-dev/AsyncTCP.git 
+          https://github.com/JChristensen/JC_Button.git 
+          https://github.com/greiman/SdFat.git 
+          https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_Qwiic_OLED_Arduino_Library.git 
+          https://github.com/sparkfun/SparkFun_LIS2DH12_Arduino_Library.git 
+          https://github.com/bblanchon/ArduinoJson.git 
+          https://github.com/knolleary/pubsubclient.git
+          https://github.com/avinabmalla/ESP32_BleSerial.git
+          
+      - name: Compile Sketch
+        run: arduino-cli compile --fqbn esp32:esp32:esp32 ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
+          --build-property build.partitions=partitions
+          --build-property upload.maximum_size=3145728 
+          --build-property "compiler.cpp.extra_flags=\"-DPOINTPERFECT_TOKEN=$POINTPERFECT_TOKEN\""
+          --export-binaries
+
+      - name: Get current date
+        id: date
+        run: echo "::set-output name=date::$(date +'%b_%d_%Y')"
+      
+      - name: Rename binary
+        run: |
+          cd Firmware/RTK_Surveyor
+          cd build
+          cd esp32.esp32.esp32
+          mv RTK_Surveyor.ino.bin ${{ env.FILENAME_PREFIX }}.bin
+
+      - name: Upload binary to action
+        uses: actions/upload-artifact@v3
+        with: 
+          name: ${{ env.FILENAME_PREFIX }}
+          path: ./Firmware/RTK_Surveyor/build/esp32.esp32.esp32/${{ env.FILENAME_PREFIX }}.bin       

From a880f233ae637662ecf3c87c80ab710e591b1bca Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 11:17:59 -0600
Subject: [PATCH 079/134] Fix #284 - Delay NTRIP Client connect until GGA is
 available

---
 Firmware/RTK_Surveyor/NtripClient.ino | 30 +++++++++++++++++++--------
 1 file changed, 21 insertions(+), 9 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index 0814c6558..48c082d54 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -339,18 +339,30 @@ void ntripClientUpdate()
       break;
 
     case NTRIP_CLIENT_WIFI_CONNECTED:
-      //Open connection to caster service
-      if (!ntripClientConnect())
       {
-        log_d("NTRIP Client caster failed to connect. Trying again.");
+        //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
+        if ( (settings.ntripClient_TransmitGGA == true && (fixType == 3 || fixType == 4 || fixType == 5))
+             || settings.ntripClient_TransmitGGA == false)
+        {
+          //Open connection to caster service
+          if (!ntripClientConnect())
+          {
+            log_d("NTRIP Client caster failed to connect. Trying again.");
 
-        //Assume service not available
-        if (ntripClientConnectLimitReached())
-          Serial.println("NTRIP Client caster failed to connect. Do you have your caster address and port correct?");
+            //Assume service not available
+            if (ntripClientConnectLimitReached())
+              Serial.println("NTRIP Client caster failed to connect. Do you have your caster address and port correct?");
+          }
+          else
+            //Socket opened to NTRIP system
+            ntripClientSetState(NTRIP_CLIENT_CONNECTING);
+        }
+        else
+        {
+          log_d("Waiting for Fix");
+        }
       }
-      else
-        //Socket opened to NTRIP system
-        ntripClientSetState(NTRIP_CLIENT_CONNECTING);
       break;
 
     case NTRIP_CLIENT_CONNECTING:

From 1a9bcb278166454bbb10ebe86879ba558680909e Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 11:28:24 -0600
Subject: [PATCH 080/134] Camel case WiFi prints

---
 Firmware/RTK_Surveyor/NtripServer.ino | 2 +-
 Firmware/RTK_Surveyor/menuSystem.ino  | 4 ++--
 Firmware/RTK_Surveyor/settings.h      | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 862c2de9f..6dfdb1d46 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -35,7 +35,7 @@
                     |                  v                Fail  |
                     |     NTRIP_SERVER_AUTHORIZATION -------->+
                     |                  |                      ^
-                    |                  | Discard Data   Wifi  |
+                    |                  | Discard Data   WiFi  |
                     |                  v                Fail  |
                     |         NTRIP_SERVER_CASTING -----------'
                     |                  |
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 145e9682a..2534f9c7c 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -329,13 +329,13 @@ void menuDebug()
     Serial.print("9) GNSS Serial Timeout: ");
     Serial.println(settings.serialTimeoutGNSS);
 
-    Serial.print("10) Periodically print Wifi IP Address: ");
+    Serial.print("10) Periodically print WiFi IP Address: ");
     Serial.printf("%s\r\n", settings.enablePrintWifiIpAddress ? "Enabled" : "Disabled");
 
     Serial.print("11) Periodically print state: ");
     Serial.printf("%s\r\n", settings.enablePrintState ? "Enabled" : "Disabled");
 
-    Serial.print("12) Periodically print Wifi state: ");
+    Serial.print("12) Periodically print WiFi state: ");
     Serial.printf("%s\r\n", settings.enablePrintWifiState ? "Enabled" : "Disabled");
 
     Serial.print("13) Periodically print NTRIP client state: ");
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 46983abc9..5b123e598 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -394,14 +394,14 @@ typedef struct {
 
   //NTRIP Server
   bool enableNtripServer = false;
-  bool ntripServer_StartAtSurveyIn = false; //true = Start Wifi instead of Bluetooth at Survey-In
+  bool ntripServer_StartAtSurveyIn = false; //true = Start WiFi instead of Bluetooth at Survey-In
   char ntripServer_CasterHost[50] = "rtk2go.com"; //It's free...
   uint16_t ntripServer_CasterPort = 2101;
   char ntripServer_CasterUser[50] = "test@test.com"; //Some free casters require auth. User must provide their own email address to use RTK2Go
   char ntripServer_CasterUserPW[50] = "";
   char ntripServer_MountPoint[50] = "bldr_dwntwn2"; //NTRIP Server
   char ntripServer_MountPointPW[50] = "WR5wRo4H";
-  char ntripServer_wifiSSID[50] = "TRex"; //NTRIP Server Wifi
+  char ntripServer_wifiSSID[50] = "TRex"; //NTRIP Server WiFi
   char ntripServer_wifiPW[50] = "parachutes";
 
   //NTRIP Client
@@ -412,7 +412,7 @@ typedef struct {
   char ntripClient_CasterUserPW[50] = "";
   char ntripClient_MountPoint[50] = "bldr_SparkFun1";
   char ntripClient_MountPointPW[50] = "";
-  char ntripClient_wifiSSID[50] = "TRex"; //NTRIP Server Wifi
+  char ntripClient_wifiSSID[50] = "TRex"; //NTRIP Server WiFi
   char ntripClient_wifiPW[50] = "parachutes";
   bool ntripClient_TransmitGGA = true;
 

From 2e80170916ef800aecbbb48c765c210591c89c95 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 12:49:26 -0600
Subject: [PATCH 081/134] Display RTCM frames, not bytes

Useful for testing
---
 Firmware/RTK_Surveyor/ESPNOW.ino      |  2 +-
 Firmware/RTK_Surveyor/NtripServer.ino | 11 ++++++++++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 3029229fc..892b3b2fa 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -345,7 +345,7 @@ void espnowProcessRTCM(byte incoming)
       espnowOutgoingSpot = 0; //Wrap
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
       delay(10); //We need a small delay between sending multiple packets
-      log_d("ESPNOW: Sending %d bytes", sizeof(espnowOutgoing));
+      log_d("ESPNOW pushed %d RTCM bytes", sizeof(espnowOutgoing));
 
       espnowOutgoingRTCM = true;
     }
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 6dfdb1d46..eadc3675c 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -74,6 +74,7 @@ static uint32_t ntripServerStateLastDisplayed = 0;
 //NTRIP server timer usage:
 //  * Measure the connection response time
 //  * Receive RTCM correction data timeout
+//  * Monitor last RTCM byte received for frame counting
 static uint32_t ntripServerTimer;
 
 //Record last connection attempt
@@ -363,7 +364,15 @@ void ntripServerProcessRTCM(uint8_t incoming)
     if (settings.enableNtripServerMessageParsing == true)
       passAlongIncomingByte &= ntripServerRtcmMessage(incoming);
     else
-      rtcmPacketsSent++; //If not checking RTCM CRC, count every byte
+    {
+      //If we have not gotten new RTCM bytes for a period of time, assume end of frame
+      if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
+      {
+        log_d("NTRIP Server pushed %d RTCM bytes to Caster", ntripServerBytesSent);
+        ntripServerBytesSent = 0;
+        rtcmPacketsSent++; //If not checking RTCM CRC, count based on timeout
+      }
+    }
 
     if (passAlongIncomingByte)
     {

From e2388077559cb7c58e7fc28251e2d0d944677687 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 12:50:03 -0600
Subject: [PATCH 082/134] Allow disable of BT radio

Used primarily for debugging.
---
 Firmware/RTK_Surveyor/Bluetooth.ino  | 10 ++++++----
 Firmware/RTK_Surveyor/Display.ino    |  2 +-
 Firmware/RTK_Surveyor/NVM.ino        |  8 ++++----
 Firmware/RTK_Surveyor/menuSystem.ino | 17 ++++++++++-------
 Firmware/RTK_Surveyor/settings.h     | 15 +++++++++++----
 5 files changed, 32 insertions(+), 20 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 408d13eb3..6e2773c5c 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -116,11 +116,13 @@ void bluetoothStart()
 
     sprintf(deviceName, "%s %s%02X%02X", platformPrefix, stateName, unitMACAddress[4], unitMACAddress[5]);
 
-    // BLE vs Bluetooth Classic
-    if (settings.enableBLE)
-      bluetoothSerial = new BTLESerial();
-    else
+    // Select Bluetooth setup
+    if (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF)
+      return;
+    else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_SPP)
       bluetoothSerial = new BTClassicSerial();
+    else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
+      bluetoothSerial = new BTLESerial();
 
     if (bluetoothSerial->begin(deviceName) == false)
     {
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 8640d30b2..a036e1be4 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -659,7 +659,7 @@ uint32_t setRadioIcons()
     //Because of lack of space we will indicate the Base/Rover if only two radios or less are active
 
     //Count the number of radios in use
-    uint8_t numberOfRadios = 1; //Bluetooth always indicated
+    uint8_t numberOfRadios = 1; //Bluetooth always indicated. TODO don't count if BT radio type is OFF.
     if (wifiState > WIFI_OFF) numberOfRadios++;
     if (espnowState > ESPNOW_OFF) numberOfRadios++;
 
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index cf2c3d6d6..60b12c583 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -267,7 +267,7 @@ void recordSystemSettingsToFile(File * settingsFile)
   }
   settingsFile->printf("%s=%d\n\r", "espnowPeerCount", settings.espnowPeerCount);
   settingsFile->printf("%s=%d\n\r", "enableNtripServerMessageParsing", settings.enableNtripServerMessageParsing);
-  settingsFile->printf("%s=%d\n\r", "enableBLE", settings.enableBLE);
+  settingsFile->printf("%s=%d\n\r", "radioType", settings.bluetoothRadioType);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -871,13 +871,13 @@ bool parseLine(char* str, Settings *settings)
   else if (strcmp(settingName, "enablePrintDuplicateStates") == 0)
     settings->enablePrintDuplicateStates = d;
   else if (strcmp(settingName, "radioType") == 0)
-    settings->radioType = (radioType_e)d;
+    settings->radioType = (RadioType_e)d;
   else if (strcmp(settingName, "espnowPeerCount") == 0)
     settings->espnowPeerCount = d;
   else if (strcmp(settingName, "enableNtripServerMessageParsing") == 0)
     settings->enableNtripServerMessageParsing = d;
-  else if (strcmp(settingName, "enableBLE") == 0)
-    settings->enableBLE = d;
+  else if (strcmp(settingName, "bluetoothRadioType") == 0)
+    settings->bluetoothRadioType = (BluetoothRadioType_e)d;
 
   //Check for bulk settings (constellations, message rates, ESPNOW Peers)
   //Must be last on else list
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 2534f9c7c..ada55ba7d 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -152,10 +152,12 @@ void menuSystem()
     Serial.printf("z) Set time zone offset: %02d:%02d:%02d\r\n", settings.timeZoneHours, settings.timeZoneMinutes, settings.timeZoneSeconds);
 
     Serial.print(F("b) Set Bluetooth Mode: "));
-    if (settings.enableBLE == true)
+    if (settings.bluetoothRadioType == BLUETOOTH_RADIO_SPP)
+      Serial.println(F("Classic"));
+    else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
       Serial.println(F("BLE"));
     else
-      Serial.println(F("Classic"));
+      Serial.println(F("Off"));
 
     Serial.println("r) Reset all settings to default");
 
@@ -206,12 +208,13 @@ void menuSystem()
     {
       // Restart Bluetooth
       bluetoothStop();
-      if (settings.enableBLE == false)
-        settings.enableBLE = true;
-      else
-        settings.enableBLE = false;
+      if (settings.bluetoothRadioType == BLUETOOTH_RADIO_SPP)
+        settings.bluetoothRadioType = BLUETOOTH_RADIO_BLE;
+      else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
+        settings.bluetoothRadioType = BLUETOOTH_RADIO_OFF;
+      else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF)
+        settings.bluetoothRadioType = BLUETOOTH_RADIO_SPP;
       bluetoothStart();
-
     }
     else if (incoming == 'r')
     {
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 5b123e598..385d90977 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -164,11 +164,18 @@ enum RtcmTransportState
   RTCM_TRANSPORT_STATE_CHECK_CRC
 };
 
-typedef enum radioType_e
+typedef enum RadioType_e
 {
   RADIO_EXTERNAL = 0,
   RADIO_ESPNOW,
-} radioType_e;
+} RadioType_e;
+
+typedef enum BluetoothRadioType_e
+{
+  BLUETOOTH_RADIO_SPP = 0,
+  BLUETOOTH_RADIO_BLE,
+  BLUETOOTH_RADIO_OFF,
+} BluetoothRadioType_e;
 
 //Radio status LED goes from off (LED off), no connection (blinking), to connected (solid)
 enum BTState
@@ -462,11 +469,11 @@ typedef struct {
   bool enablePrintNtripClientRtcm = false;
   bool enablePrintStates = true;
   bool enablePrintDuplicateStates = false;
-  radioType_e radioType = RADIO_EXTERNAL;
+  RadioType_e radioType = RADIO_EXTERNAL;
   uint8_t espnowPeers[5][6]; //Max of 5 peers. Contains the MAC addresses (6 bytes) of paired units
   uint8_t espnowPeerCount;
   bool enableNtripServerMessageParsing = false;
-  bool enableBLE = false;
+  BluetoothRadioType_e bluetoothRadioType = BLUETOOTH_RADIO_SPP;
 } Settings;
 Settings settings;
 

From 854cdb2e63294dd0b52047f5344937de46f00825 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 13:10:15 -0600
Subject: [PATCH 083/134] Fix link to PubSubClient lib

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index ee76c394e..b9ae66e55 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -151,7 +151,7 @@ LoggingType loggingType = LOGGING_UNKNOWN;
 #include <HTTPClient.h> //Built-in. Needed for ThingStream API for ZTP
 #include <ArduinoJson.h> //http://librarymanager/All#Arduino_JSON_messagepack v6.19.4
 #include <WiFiClientSecure.h> //Built-in.
-#include <PubSubClient.h> //Built-in. Used for MQTT obtaining of keys
+#include <PubSubClient.h> //http://librarymanager/All#PubSubClient_MQTT_Lightweight v2.8.0 Used for MQTT obtaining of keys
 
 #include "esp_wifi.h" //Needed for esp_wifi_set_protocol()
 

From 0ac2b37a30898837119170b753bcd1df0647bd3f Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 15:56:29 -0600
Subject: [PATCH 084/134] Add error check on L-Band keys daysRemaining

---
 Firmware/RTK_Surveyor/States.ino   | 2 +-
 Firmware/RTK_Surveyor/menuMain.ino | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 75d34f54b..9d1aa8108 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -696,7 +696,7 @@ void updateSystemState()
             uint8_t daysRemaining = daysFromEpoch(settings.pointPerfectNextKeyStart + settings.pointPerfectNextKeyDuration + 1);
             log_d("Days until keys expire: %d", daysRemaining);
 
-            if (daysRemaining >= 28)
+            if (daysRemaining >= 28 && daysRemaining <= 56)
               changeState(STATE_KEYS_LBAND_CONFIGURE);
             else
               changeState(STATE_KEYS_NEEDED);
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 480255596..891918c2f 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -306,7 +306,7 @@ void menuRadio()
 
     Serial.print("1) Select Radio Type: ");
     if (settings.radioType == RADIO_EXTERNAL) Serial.println("External only");
-    else if (settings.radioType == RADIO_ESPNOW) Serial.println("Internal ESP NOW");
+    else if (settings.radioType == RADIO_ESPNOW) Serial.println("Internal ESP-Now");
 
     if (settings.radioType == RADIO_ESPNOW)
     {

From 23d75fc4a4323d496041a6190029096d55dbb803 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 16:00:34 -0600
Subject: [PATCH 085/134] Enable ESP Now upon pairing completion

---
 Firmware/RTK_Surveyor/ESPNOW.ino | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 892b3b2fa..7b92017e7 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -223,6 +223,9 @@ bool espnowIsPaired()
       memcpy(settings.espnowPeers[settings.espnowPeerCount], receivedMAC, 6);
       settings.espnowPeerCount++;
       settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
+
+      //Enable radio. User may have arrived here from the setup menu rather than serial menu.
+      settings.radioType = RADIO_ESPNOW;
     }
 
     //Send message directly to the received MAC (not unicast), then exit

From 17cff2f06c6243a41178980ff38d53e079de3c73 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 18 Aug 2022 16:13:04 -0600
Subject: [PATCH 086/134] Malloc cert and key contents

---
 Firmware/RTK_Surveyor/menuPP.ino | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index c13545d7c..c52b02dc2 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -278,15 +278,22 @@ bool provisionDevice()
 }
 
 //Subscribe to MQTT channel, grab keys, then stop
+
 bool updatePointPerfectKeys()
 {
 #ifdef COMPILE_WIFI
 
   WiFiClientSecure secureClient;
 
+#define CONTENT_SIZE 2000
+
+  certificateContents = (char*)malloc(CONTENT_SIZE);
+  memset(certificateContents, 0, CONTENT_SIZE);
   loadFile("certificate", certificateContents);
   secureClient.setCertificate(certificateContents);
 
+  keyContents = (char*)malloc(CONTENT_SIZE);
+  memset(keyContents, 0, CONTENT_SIZE);
   loadFile("privateKey", keyContents);
   secureClient.setPrivateKey(keyContents);
 
@@ -336,6 +343,8 @@ bool updatePointPerfectKeys()
     if (mqttClient.connected() == false)
     {
       log_d("Client disconnected");
+      free(certificateContents);
+      free(keyContents);
       return (false);
     }
 
@@ -345,12 +354,16 @@ bool updatePointPerfectKeys()
     {
       Serial.println();
       log_d("Channel failed to respond");
+      free(certificateContents);
+      free(keyContents);
       return (false);
     }
   }
 
   Serial.println();
-  Serial.println("Keys successfully update");
+  Serial.println("Keys successfully updated");
+  free(certificateContents);
+  free(keyContents);
   return (true);
 #else
   return (false);
@@ -957,8 +970,6 @@ void menuPointPerfect()
         else
           updatePointPerfectKeys();
       }
-
-      bluetoothStart();
 #endif
     }
     else if (incoming == '6')

From b95045aa509656ee7164b602574f6b7ce9cec1c3 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 11:18:38 -0600
Subject: [PATCH 087/134] Free malloc'd keys. Stop WiFi after PointPerfect
 update.

---
 Firmware/RTK_Surveyor/menuPP.ino | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index c52b02dc2..d5ecaf5b5 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -278,7 +278,6 @@ bool provisionDevice()
 }
 
 //Subscribe to MQTT channel, grab keys, then stop
-
 bool updatePointPerfectKeys()
 {
 #ifdef COMPILE_WIFI
@@ -323,6 +322,8 @@ bool updatePointPerfectKeys()
       if (tries++ == maxTries)
       {
         log_d("MQTT failed to connect");
+        free(certificateContents);
+        free(keyContents);
         return (false);
       }
 
@@ -969,6 +970,8 @@ void menuPointPerfect()
         }
         else
           updatePointPerfectKeys();
+
+        wifiStop();
       }
 #endif
     }

From e2af03f1507a90fed878e125408b0e3b8fc78c8b Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 11:18:51 -0600
Subject: [PATCH 088/134] Remove unused var.

---
 Firmware/RTK_Surveyor/Display.ino | 2 --
 1 file changed, 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index a036e1be4..d62a5f4b1 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -1660,8 +1660,6 @@ void displayWiFiConfigNotStarted()
 
 void displayWiFiConfig()
 {
-  uint32_t icons;
-
   int yPos = WiFi_Symbol_Height + 2;
   int fontHeight = 8;
 

From 45867896f95bd96ca2549df6d64aa3a0c7c81006 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 16:12:41 -0600
Subject: [PATCH 089/134] Cleanup RTCM log_ds

---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 5 +++--
 Firmware/RTK_Surveyor/NtripClient.ino  | 2 +-
 Firmware/RTK_Surveyor/NtripServer.ino  | 2 +-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 9 +++++++--
 Firmware/RTK_Surveyor/Tasks.ino        | 2 +-
 5 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 7b92017e7..26102bd34 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -63,7 +63,7 @@ void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int l
 
     //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
     serialGNSS.write(incomingData, len);
-    log_d("ESPNOW: Received %d bytes, RSSI: %d", len, espnowRSSI);
+    log_d("ESPNOW received %d RTCM bytes, pushed to ZED, RSSI: %d", len, espnowRSSI);
 
     espnowIncomingRTCM = true;
     lastEspnowRssiUpdate = millis();
@@ -348,7 +348,8 @@ void espnowProcessRTCM(byte incoming)
       espnowOutgoingSpot = 0; //Wrap
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
       delay(10); //We need a small delay between sending multiple packets
-      log_d("ESPNOW pushed %d RTCM bytes", sizeof(espnowOutgoing));
+      
+      espnowBytesSent += sizeof(espnowOutgoing);
 
       espnowOutgoingRTCM = true;
     }
diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index 48c082d54..e3bbf8262 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -460,7 +460,7 @@ void ntripClientUpdate()
           i2cGNSS.pushRawData(rtcmData, rtcmCount);
           wifiIncomingRTCM = true;
 
-          log_d("NTRIP Client pushed %d RTCM bytes to ZED", rtcmCount);
+          log_d("NTRIP Client received %d RTCM bytes, pushed to ZED", rtcmCount);
         }
       }
 
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index eadc3675c..160c0e0dc 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -368,7 +368,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
       //If we have not gotten new RTCM bytes for a period of time, assume end of frame
       if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
       {
-        log_d("NTRIP Server pushed %d RTCM bytes to Caster", ntripServerBytesSent);
+        log_d("NTRIP Server transmitted %d RTCM bytes to Caster", ntripServerBytesSent);
         ntripServerBytesSent = 0;
         rtcmPacketsSent++; //If not checking RTCM CRC, count based on timeout
       }
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index b9ae66e55..6ebe1ba6e 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -354,7 +354,8 @@ float lBandEBNO = 0.0; //Used on system status menu
 
 uint8_t espnowOutgoing[250]; //ESP NOW has max of 250 characters
 unsigned long espnowLastAdd; //Tracks how long since last byte was added to the outgoing buffer
-uint8_t espnowOutgoingSpot = 0;
+uint8_t espnowOutgoingSpot = 0; //ESP Now has max of 250 characters
+uint16_t espnowBytesSent = 0; //May be more than 255
 uint8_t receivedMAC[6]; //Holds the broadcast MAC during pairing
 
 int espnowRSSI = 0;
@@ -848,8 +849,12 @@ void updateRadio()
       //then we've reached the end of the RTCM stream. Send partial buffer.
       if (espnowOutgoingSpot > 0 && (millis() - espnowLastAdd) > 50)
       {
+        rtcmPacketsSent++; //Assume this is the end of the RTCM frame
+
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
-        //log_d("ESPNOW: Sending %d bytes", espnowOutgoingSpot);
+        
+        log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
+        espnowBytesSent = 0;
         espnowOutgoingSpot = 0; //Reset
       }
 
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index cf338a67f..859598000 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -18,6 +18,7 @@ void F9PSerialWriteTask(void *e)
         //TODO - control if this RTCM source should be listened to or not
         serialGNSS.write(wBuffer, s);
         bluetoothIncomingRTCM = true;
+        log_d("Bluetooth received %d RTCM bytes, sent to ZED", s);
 
         if (settings.enableTaskReports == true)
           Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
@@ -671,4 +672,3 @@ void idleTask(void *e)
   }
 }
 #endif  //COMPILE_IDLE_TASKS
-

From cdfb29c493ee8ff44a10bf44c79dc2a13f7c57a1 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 16:13:10 -0600
Subject: [PATCH 090/134] Correct radioType NVM storage

---
 Firmware/RTK_Surveyor/ESPNOW.ino | 7 ++++---
 Firmware/RTK_Surveyor/NVM.ino    | 4 +++-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 26102bd34..1a10c8e07 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -223,14 +223,15 @@ bool espnowIsPaired()
       memcpy(settings.espnowPeers[settings.espnowPeerCount], receivedMAC, 6);
       settings.espnowPeerCount++;
       settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
-
-      //Enable radio. User may have arrived here from the setup menu rather than serial menu.
-      settings.radioType = RADIO_ESPNOW;
     }
 
     //Send message directly to the received MAC (not unicast), then exit
     espnowSendPairMessage(receivedMAC);
 
+    //Enable radio. User may have arrived here from the setup menu rather than serial menu.
+    settings.radioType = RADIO_ESPNOW;
+    recordSystemSettings();
+
     espnowSetState(ESPNOW_PAIRED);
     return (true);
   }
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 60b12c583..9a1a2ce4c 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -267,7 +267,7 @@ void recordSystemSettingsToFile(File * settingsFile)
   }
   settingsFile->printf("%s=%d\n\r", "espnowPeerCount", settings.espnowPeerCount);
   settingsFile->printf("%s=%d\n\r", "enableNtripServerMessageParsing", settings.enableNtripServerMessageParsing);
-  settingsFile->printf("%s=%d\n\r", "radioType", settings.bluetoothRadioType);
+  settingsFile->printf("%s=%d\n\r", "bluetoothRadioType", settings.bluetoothRadioType);
 
   //Record constellation settings
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
@@ -876,6 +876,8 @@ bool parseLine(char* str, Settings *settings)
     settings->espnowPeerCount = d;
   else if (strcmp(settingName, "enableNtripServerMessageParsing") == 0)
     settings->enableNtripServerMessageParsing = d;
+  else if (strcmp(settingName, "radioType") == 0)
+    settings->radioType = (RadioType_e)d;
   else if (strcmp(settingName, "bluetoothRadioType") == 0)
     settings->bluetoothRadioType = (BluetoothRadioType_e)d;
 

From fb7a0b8cabc2a7b5f9573394a1a03cac1df75573 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 18:19:34 -0600
Subject: [PATCH 091/134] Exit to previous state after pairing

---
 Firmware/RTK_Surveyor/ESPNOW.ino | 3 ++-
 Firmware/RTK_Surveyor/States.ino | 4 +++-
 Firmware/RTK_Surveyor/Tasks.ino  | 4 ++--
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 1a10c8e07..f54de9dd3 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -230,7 +230,8 @@ bool espnowIsPaired()
 
     //Enable radio. User may have arrived here from the setup menu rather than serial menu.
     settings.radioType = RADIO_ESPNOW;
-    recordSystemSettings();
+    
+    recordSystemSettings(); //Record radioType and espnowPeerCount to NVM
 
     espnowSetState(ESPNOW_PAIRED);
     return (true);
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
index 9d1aa8108..60723dcf7 100644
--- a/Firmware/RTK_Surveyor/States.ino
+++ b/Firmware/RTK_Surveyor/States.ino
@@ -920,7 +920,9 @@ void updateSystemState()
           if (espnowIsPaired() == true)
           {
             paintEspNowPaired();
-            changeState(STATE_ROVER_NOT_STARTED);
+            
+            // Return to the previous state
+            changeState(lastSystemState);
           }
           else
           {
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 859598000..73829cf09 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -415,7 +415,7 @@ void ButtonCheckTask(void *e)
           case STATE_WIFI_CONFIG:
           case STATE_ESPNOW_PAIRING_NOT_STARTED:
           case STATE_ESPNOW_PAIRING:
-            lastSystemState = systemState; //Remember this state to return after we mark an event
+            lastSystemState = systemState; //Remember this state to return after we mark an event or ESP-Now pair
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
             lastSetupMenuChange = millis();
@@ -535,7 +535,7 @@ void ButtonCheckTask(void *e)
           case STATE_WIFI_CONFIG:
           case STATE_ESPNOW_PAIRING_NOT_STARTED:
           case STATE_ESPNOW_PAIRING:
-            lastSystemState = systemState; //Remember this state to return after we mark an event
+            lastSystemState = systemState; //Remember this state to return after we mark an event or ESP-Now pair
             requestChangeState(STATE_DISPLAY_SETUP);
             setupState = STATE_MARK_EVENT;
             lastSetupMenuChange = millis();

From ae6472df560c4ffa18cf526ae924f151e1308b41 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 19 Aug 2022 20:56:57 -0600
Subject: [PATCH 092/134] Center text on displays

---
 Firmware/RTK_Surveyor/Display.ino | 57 +++++++++----------------------
 1 file changed, 16 insertions(+), 41 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index d62a5f4b1..73924fcd7 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -1455,45 +1455,23 @@ void printTextwithKerning(const char *newText, uint8_t xPos, uint8_t yPos, uint8
 //Show transmission of RTCM correction data packets to NTRIP caster
 void paintRTCM()
 {
-  static uint32_t lastCorrectionDataSeen;
-  int textY = 17;
-  int textKerning = 8;
-  oled.setFont(QW_FONT_8X16);
+  int yPos = 17;
   if (bluetoothGetState() != BT_OFF)
-  {
-    int textX = 1;
-    printTextwithKerning("Xmitting", textX, textY, textKerning);  //via Bluetooth
-  }
+    printTextCenter("Xmitting", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
   else
-  {
-    int textX = 4;
-    printTextwithKerning("Casting", textX, textY, textKerning);   //via WiFi
-  }
+    printTextCenter("Casting", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
 
-  //Determine if correction data has been sent recently
-  if (bluetoothOutgoingRTCM == true || wifiOutgoingRTCM == true || espnowOutgoingRTCM == true)
-    lastCorrectionDataSeen = millis();
+  oled.setCursor(0, 39); //x, y
+  oled.setFont(QW_FONT_5X7);
+  oled.print("RTCM:");
 
-  if ((millis() - lastCorrectionDataSeen) >= 5000)
-  {
-    //No correction data seen
-    oled.setCursor(0, 33); //x, y
-    oled.print("Off");
-  }
+  if (rtcmPacketsSent < 100)
+    oled.setCursor(30, 36); //x, y - Give space for two digits
   else
-  {
-    oled.setCursor(0, 39); //x, y
-    oled.setFont(QW_FONT_5X7);
-    oled.print("RTCM:");
-
-    if (rtcmPacketsSent < 100)
-      oled.setCursor(30, 36); //x, y - Give space for two digits
-    else
-      oled.setCursor(28, 36); //x, y - Push towards colon to make room for log icon
+    oled.setCursor(28, 36); //x, y - Push towards colon to make room for log icon
 
-    oled.setFont(QW_FONT_8X16); //Set font to type 1: 8x16
-    oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()
-  }
+  oled.setFont(QW_FONT_8X16); //Set font to type 1: 8x16
+  oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()
 
   paintResets();
 }
@@ -1501,15 +1479,12 @@ void paintRTCM()
 //Show connecting to NTRIP caster service
 void paintConnectingToNtripCaster()
 {
-  int textX = 11;
-  int textY = 18;
-  int textKerning = 8;
-
-  printTextwithKerning("Caster", textX, textY, textKerning);
+  int yPos = 18;
+  printTextCenter("Caster", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
 
-  textX = 3;
-  textY = 33;
-  textKerning = 6;
+  int textX = 3;
+  int textY = 33;
+  int textKerning = 6;
   oled.setFont(QW_FONT_8X16);
 
   printTextwithKerning("Connecting", textX, textY, textKerning);

From 94e19f16772e7e8c07fd7b07889ab18566daee47 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 20 Aug 2022 20:43:56 -0600
Subject: [PATCH 093/134] Fix typo

---
 Firmware/RTK_Surveyor/ESPNOW.ino | 4 ++--
 Firmware/RTK_Surveyor/Form.ino   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index f54de9dd3..8862a953a 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -34,7 +34,7 @@ void espnowOnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status)
 #endif
 
 // Callback when data is received
-void espnowOnDataRecieved(const uint8_t *mac, const uint8_t *incomingData, int len)
+void espnowOnDataReceived(const uint8_t *mac, const uint8_t *incomingData, int len)
 {
 #ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_PAIRING)
@@ -123,7 +123,7 @@ void espnowStart()
 
   // Register callbacks
   //esp_now_register_send_cb(espnowOnDataSent);
-  esp_now_register_recv_cb(espnowOnDataRecieved);
+  esp_now_register_recv_cb(espnowOnDataReceived);
 
   if (settings.espnowPeerCount == 0)
   {
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index 72b3a2d09..b34780989 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -591,7 +591,7 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
     factoryReset();
   else if (strcmp(settingName, "exitAndReset") == 0)
   {
-    if (newAPSettings == true) recordSystemSettings(); //If we've recieved settings, record before restart
+    if (newAPSettings == true) recordSystemSettings(); //If we've received settings, record before restart
 
     //Reboot the machine
     ESP.restart();

From 5f6b007eb3ddb47460ecb2df0a8425f6699ba28d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 20 Aug 2022 20:45:13 -0600
Subject: [PATCH 094/134] Suppress debug prints in mainmenu

---
 Firmware/RTK_Surveyor/ESPNOW.ino       | 2 +-
 Firmware/RTK_Surveyor/NtripClient.ino  | 2 +-
 Firmware/RTK_Surveyor/NtripServer.ino  | 2 +-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 2 +-
 Firmware/RTK_Surveyor/Tasks.ino        | 4 ++--
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 8862a953a..b1e02cd7c 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -63,7 +63,7 @@ void espnowOnDataReceived(const uint8_t *mac, const uint8_t *incomingData, int l
 
     //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
     serialGNSS.write(incomingData, len);
-    log_d("ESPNOW received %d RTCM bytes, pushed to ZED, RSSI: %d", len, espnowRSSI);
+    if(!inMainMenu) log_d("ESPNOW received %d RTCM bytes, pushed to ZED, RSSI: %d", len, espnowRSSI);
 
     espnowIncomingRTCM = true;
     lastEspnowRssiUpdate = millis();
diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index e3bbf8262..07f120d28 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -460,7 +460,7 @@ void ntripClientUpdate()
           i2cGNSS.pushRawData(rtcmData, rtcmCount);
           wifiIncomingRTCM = true;
 
-          log_d("NTRIP Client received %d RTCM bytes, pushed to ZED", rtcmCount);
+          if(!inMainMenu) log_d("NTRIP Client received %d RTCM bytes, pushed to ZED", rtcmCount);
         }
       }
 
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 160c0e0dc..c2fc963b9 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -368,7 +368,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
       //If we have not gotten new RTCM bytes for a period of time, assume end of frame
       if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
       {
-        log_d("NTRIP Server transmitted %d RTCM bytes to Caster", ntripServerBytesSent);
+        if(!inMainMenu) log_d("NTRIP Server transmitted %d RTCM bytes to Caster", ntripServerBytesSent);
         ntripServerBytesSent = 0;
         rtcmPacketsSent++; //If not checking RTCM CRC, count based on timeout
       }
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 6ebe1ba6e..3d7965e91 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -853,7 +853,7 @@ void updateRadio()
 
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
         
-        log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
+        if(!inMainMenu) log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
         espnowBytesSent = 0;
         espnowOutgoingSpot = 0; //Reset
       }
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 73829cf09..66710a5f6 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -18,7 +18,7 @@ void F9PSerialWriteTask(void *e)
         //TODO - control if this RTCM source should be listened to or not
         serialGNSS.write(wBuffer, s);
         bluetoothIncomingRTCM = true;
-        log_d("Bluetooth received %d RTCM bytes, sent to ZED", s);
+        if(!inMainMenu) log_d("Bluetooth received %d RTCM bytes, sent to ZED", s);
 
         if (settings.enableTaskReports == true)
           Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
@@ -177,7 +177,7 @@ void F9PSerialReadTask(void *e)
           if (btBytesToSend > 0)
           {
             //If we are in base mode, assume part of the outgoing data is RTCM
-            if(systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+            if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
               bluetoothOutgoingRTCM = true;
           }
           else

From a93bf561f07fe61ff1eb66fe1b897cbeb3549012 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sun, 21 Aug 2022 21:40:22 -0600
Subject: [PATCH 095/134] Fix for ESP-Now one to many fail bug

See: https://github.com/espressif/esp-idf/issues/8992
The bug may be fixed in v2.0.4.
---
 Firmware/RTK_Surveyor/ESPNOW.ino | 8 +++++---
 Firmware/RTK_Surveyor/WiFi.ino   | 2 ++
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index b1e02cd7c..4a231079e 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -63,7 +63,7 @@ void espnowOnDataReceived(const uint8_t *mac, const uint8_t *incomingData, int l
 
     //Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART2 to ZED-UART1
     serialGNSS.write(incomingData, len);
-    if(!inMainMenu) log_d("ESPNOW received %d RTCM bytes, pushed to ZED, RSSI: %d", len, espnowRSSI);
+    if (!inMainMenu) log_d("ESPNOW received %d RTCM bytes, pushed to ZED, RSSI: %d", len, espnowRSSI);
 
     espnowIncomingRTCM = true;
     lastEspnowRssiUpdate = millis();
@@ -93,7 +93,9 @@ void espnowStart()
   if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Radio is off, turn it on
+    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
+
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
     Serial.println("WiFi off, ESP-Now added to protocols");
   }
@@ -230,7 +232,7 @@ bool espnowIsPaired()
 
     //Enable radio. User may have arrived here from the setup menu rather than serial menu.
     settings.radioType = RADIO_ESPNOW;
-    
+
     recordSystemSettings(); //Record radioType and espnowPeerCount to NVM
 
     espnowSetState(ESPNOW_PAIRED);
@@ -350,7 +352,7 @@ void espnowProcessRTCM(byte incoming)
       espnowOutgoingSpot = 0; //Wrap
       esp_now_send(0, (uint8_t *) &espnowOutgoing, sizeof(espnowOutgoing)); //Send packet to all peers
       delay(10); //We need a small delay between sending multiple packets
-      
+
       espnowBytesSent += sizeof(espnowOutgoing);
 
       espnowOutgoingRTCM = true;
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index e146ae3ab..0867d09d1 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -209,6 +209,7 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
+    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
 
 #ifdef COMPILE_ESPNOW
@@ -256,6 +257,7 @@ void wifiStop()
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
   {
+    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
 
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps

From de89a18eecf52c150de69779bac79b180739ae52 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 22 Aug 2022 14:15:24 -0600
Subject: [PATCH 096/134] Change GSV debug to log_d

---
 Firmware/RTK_Surveyor/menuGNSS.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/menuGNSS.ino b/Firmware/RTK_Surveyor/menuGNSS.ino
index 2e9b84008..284584c23 100644
--- a/Firmware/RTK_Surveyor/menuGNSS.ino
+++ b/Firmware/RTK_Surveyor/menuGNSS.ino
@@ -334,7 +334,7 @@ void setMeasurementRates(float secondsBetweenSolutions)
       float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
       if (measurementFrequency < 1.0) measurementFrequency = 1.0;
 
-      Serial.printf("Adjusting GSV setting to %f\n\r", measurementFrequency);
+      log_d("Adjusting GSV setting to %f", measurementFrequency);
 
       setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); //Update GSV setting in file
       configureMessageRate(COM_PORT_UART1, settings.ubxMessages[8]); //Update rate on module

From ea9112e65f989d7a2ecab18f27333c8a1d8f2c4e Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Mon, 22 Aug 2022 14:16:13 -0600
Subject: [PATCH 097/134] Add test log generation

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  12 +-
 Firmware/RTK_Surveyor/menuMessages.ino | 177 +++++++++++++++++++++++--
 Firmware/RTK_Surveyor/menuSystem.ino   |  12 ++
 Firmware/RTK_Surveyor/settings.h       |  17 +++
 4 files changed, 201 insertions(+), 17 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 3d7965e91..8a4c7e763 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -126,7 +126,7 @@ int startCurrentLogTime_minutes = 0; //Mark when we start this specific log file
 //System crashes if two tasks access a file at the same time
 //So we use a semaphore to see if file system is available
 SemaphoreHandle_t sdCardSemaphore;
-const TickType_t fatSemaphore_shortWait_ms = 10 / portTICK_PERIOD_MS;
+TickType_t fatSemaphore_shortWait_ms = 50 / portTICK_PERIOD_MS;
 const TickType_t fatSemaphore_longWait_ms = 200 / portTICK_PERIOD_MS;
 
 //Display used/free space in menu and config page
@@ -648,8 +648,10 @@ void updateLogs()
   }
   else if (online.logging == true && settings.enableLogging == true && (systemTime_minutes - startCurrentLogTime_minutes) >= settings.maxLogLength_minutes)
   {
-    //Close down file. A new one will be created at the next calling of updateLogs().
-    endSD(false, true);
+    if (settings.runLogTest == false)
+      endSD(false, true); //Close down file. A new one will be created at the next calling of updateLogs().
+    else if (settings.runLogTest == true)
+      updateLogTest();
   }
 
   if (online.logging == true)
@@ -852,8 +854,8 @@ void updateRadio()
         rtcmPacketsSent++; //Assume this is the end of the RTCM frame
 
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
-        
-        if(!inMainMenu) log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
+
+        if (!inMainMenu) log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
         espnowBytesSent = 0;
         espnowOutgoingSpot = 0; //Reset
       }
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index d96ca31a9..6406a7654 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -340,27 +340,43 @@ uint8_t getMessageRate(uint8_t msgClass, uint8_t msgID, uint8_t portID)
 //Based on GPS data/time, create a log file in the format SFE_Surveyor_YYMMDD_HHMMSS.ubx
 void beginLogging()
 {
+  beginLogging("");
+}
+
+void beginLogging(const char *customFileName)
+{
+  if (online.microSD == false)
+    beginSD();
+
   if (online.logging == false)
   {
     if (online.microSD == true && settings.enableLogging == true && online.rtc == true) //We can't create a file until we have date/time
     {
       char fileName[66 + 6 + 40] = "";
 
-      if (reuseLastLog == true) //attempt to use previous log
+      if (strlen(customFileName) == 0)
       {
-        if (findLastLog(fileName) == false)
-          log_d("Failed to find last log. Making new one.");
-        else
-          log_d("Using last log file.");
-      }
+        //Generate a standard log file name
+        if (reuseLastLog == true) //attempt to use previous log
+        {
+          if (findLastLog(fileName) == false)
+            log_d("Failed to find last log. Making new one.");
+          else
+            log_d("Using last log file.");
+        }
 
-      if (strlen(fileName) == 0)
+        if (strlen(fileName) == 0)
+        {
+          sprintf(fileName, "%s_%02d%02d%02d_%02d%02d%02d.ubx", //SdFat library
+                  platformFilePrefix,
+                  rtc.getYear() - 2000, rtc.getMonth() + 1, rtc.getDay(), //ESP32Time returns month:0-11
+                  rtc.getHour(true), rtc.getMinute(), rtc.getSecond() //ESP32Time getHour(true) returns hour:0-23
+                 );
+        }
+      }
+      else
       {
-        sprintf(fileName, "%s_%02d%02d%02d_%02d%02d%02d.ubx", //SdFat library
-                platformFilePrefix,
-                rtc.getYear() - 2000, rtc.getMonth() + 1, rtc.getDay(), //ESP32Time returns month:0-11
-                rtc.getHour(true), rtc.getMinute(), rtc.getSecond() //ESP32Time getHour(true) returns hour:0-23
-               );
+        strcpy(fileName, customFileName);
       }
 
       //Allocate the ubxFile
@@ -651,3 +667,140 @@ void setLoggingType()
     }
   }
 }
+
+//During the logging test, we have to modify the messages and rate of the device
+void setLogTestFrequencyMessages(int rate, int messages)
+{
+  //Set measurement frequency
+  setMeasurementRates(1.0 / rate); //Convert Hz to seconds. This will set settings.measurementRate and settings.navigationRate
+
+  //Set messages
+  setGNSSMessageRates(settings.ubxMessages, 0); //Turn off all messages
+  if (messages == 5)
+  {
+    setMessageRateByName("UBX_NMEA_GGA", 1);
+    setMessageRateByName("UBX_NMEA_GSA", 1);
+    setMessageRateByName("UBX_NMEA_GST", 1);
+    setMessageRateByName("UBX_NMEA_GSV", rate); //One report per second
+    setMessageRateByName("UBX_NMEA_RMC", 1);
+
+    log_d("Messages: Surveying Defaults (NMEAx5)");
+  }
+  else if (messages == 7)
+  {
+    setMessageRateByName("UBX_NMEA_GGA", 1);
+    setMessageRateByName("UBX_NMEA_GSA", 1);
+    setMessageRateByName("UBX_NMEA_GST", 1);
+    setMessageRateByName("UBX_NMEA_GSV", rate); //One report per second
+    setMessageRateByName("UBX_NMEA_RMC", 1);
+    setMessageRateByName("UBX_RXM_RAWX", 1);
+    setMessageRateByName("UBX_RXM_SFRBX", 1);
+
+    log_d("Messages: PPP NMEAx5+RXMx2");
+  }
+  else
+    log_d("Unknown message amount");
+
+
+  //Apply these message rates to both UART1 and USB
+  configureGNSSMessageRates(COM_PORT_UART1, settings.ubxMessages);
+  configureGNSSMessageRates(COM_PORT_USB, settings.ubxMessages);
+}
+
+//The log test allows us to record a series of different system configurations into
+//one file. At the same time, we log the output of the ZED via the USB connection.
+//Once complete, the SD log is compared against the USB log to verify both are identical.
+//Be sure to set maxLogLength_minutes before running test. maxLogLength_minutes will
+//set the length of each test.
+void updateLogTest()
+{
+  //Log is complete, run next text
+  int rate = 4;
+  int messages = 5;
+  int semaphoreWait = 10;
+
+  logTestState++; //Advance to next state
+
+  switch (logTestState)
+  {
+    case (LOGTEST_4HZ_5MSG_10MS):
+      //During the first test, create the log file
+      reuseLastLog = false;
+      char fileName[100];
+      sprintf(fileName, "%s_LogTest_%02d%02d%02d_%02d%02d%02d.ubx", //SdFat library
+              platformFilePrefix,
+              rtc.getYear() - 2000, rtc.getMonth() + 1, rtc.getDay(), //ESP32Time returns month:0-11
+              rtc.getHour(true), rtc.getMinute(), rtc.getSecond() //ESP32Time getHour(true) returns hour:0-23
+             );
+      endSD(false, true); //End previous log
+
+      beginLogging(fileName);
+
+      i2cGNSS.setPortOutput(COM_PORT_USB, COM_TYPE_NMEA | COM_TYPE_UBX | COM_TYPE_RTCM3); //Duplicate UART1
+
+      rate = 4;
+      messages = 5;
+      semaphoreWait = 10;
+      break;
+    case (LOGTEST_4HZ_7MSG_10MS):
+      rate = 4;
+      messages = 7;
+      semaphoreWait = 10;
+      break;
+    case (LOGTEST_10HZ_5MSG_10MS):
+      rate = 10;
+      messages = 5;
+      semaphoreWait = 10;
+      break;
+    case (LOGTEST_10HZ_7MSG_10MS):
+      rate = 10;
+      messages = 7;
+      semaphoreWait = 10;
+      break;
+    case (LOGTEST_4HZ_5MSG_50MS):
+      rate = 4;
+      messages = 5;
+      semaphoreWait = 50;
+      break;
+    case (LOGTEST_4HZ_7MSG_50MS):
+      rate = 4;
+      messages = 7;
+      semaphoreWait = 50;
+      break;
+    case (LOGTEST_10HZ_5MSG_50MS):
+      rate = 10;
+      messages = 5;
+      semaphoreWait = 50;
+      break;
+    case (LOGTEST_10HZ_7MSG_50MS):
+      rate = 10;
+      messages = 7;
+      semaphoreWait = 50;
+      break;
+
+    case (LOGTEST_END):
+      //Reduce rate
+      rate = 4;
+      messages = 5;
+      semaphoreWait = 50;
+      setLogTestFrequencyMessages(rate, messages); //Set messages and rate for both UART1 and USB ports
+      log_d("Log Test Complete");
+      break;
+
+    default:
+      logTestState = LOGTEST_END;
+      settings.runLogTest = false;
+      break;
+  }
+
+  if (settings.runLogTest == true)
+  {
+    setLogTestFrequencyMessages(rate, messages); //Set messages and rate for both UART1 and USB ports
+
+    fatSemaphore_shortWait_ms = semaphoreWait / portTICK_PERIOD_MS; //Update variable
+
+    startCurrentLogTime_minutes = millis() / 1000L / 60; //Mark now as start of logging
+
+    log_d("Running log test: %dHz, %dMsg, %dMS", rate, messages, semaphoreWait);
+  }
+}
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index ada55ba7d..e3c2db2c3 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -388,6 +388,9 @@ void menuDebug()
     Serial.print("28) NTRIP server message parser: ");
     Serial.printf("%s\r\n", settings.enableNtripServerMessageParsing ? "Enabled" : "Disabled");
 
+    Serial.print("29) Run Logging Test: ");
+    Serial.printf("%s\r\n", settings.runLogTest ? "Enabled" : "Disabled");
+
     Serial.println("t) Enter Test Screen");
 
     Serial.println("e) Erase LittleFS");
@@ -570,6 +573,15 @@ void menuDebug()
       {
         settings.enableNtripServerMessageParsing ^= 1;
       }
+      else if (incoming == 29)
+      {
+        settings.runLogTest ^= 1;
+
+        logTestState = LOGTEST_START; //Start test
+
+        //Mark current log file as complete to force test start
+        startCurrentLogTime_minutes = systemTime_minutes - settings.maxLogLength_minutes;
+      }
       else
         printUnknown(incoming);
     }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 385d90977..7b4e0072e 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -177,6 +177,22 @@ typedef enum BluetoothRadioType_e
   BLUETOOTH_RADIO_OFF,
 } BluetoothRadioType_e;
 
+enum LogTestState
+{
+  LOGTEST_START = 0,
+  LOGTEST_4HZ_5MSG_10MS,
+  LOGTEST_4HZ_7MSG_10MS,
+  LOGTEST_10HZ_5MSG_10MS,
+  LOGTEST_10HZ_7MSG_10MS,
+  LOGTEST_4HZ_5MSG_50MS,
+  LOGTEST_4HZ_7MSG_50MS,
+  LOGTEST_10HZ_5MSG_50MS,
+  LOGTEST_10HZ_7MSG_50MS,
+
+  LOGTEST_END,
+} ;
+uint8_t logTestState = LOGTEST_END;
+
 //Radio status LED goes from off (LED off), no connection (blinking), to connected (solid)
 enum BTState
 {
@@ -474,6 +490,7 @@ typedef struct {
   uint8_t espnowPeerCount;
   bool enableNtripServerMessageParsing = false;
   BluetoothRadioType_e bluetoothRadioType = BLUETOOTH_RADIO_SPP;
+  bool runLogTest = false; //When set to true, device will create a series of test logs
 } Settings;
 Settings settings;
 

From 757b6ec73d460170732d09ebbe96a3e566cffb9f Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 10:27:59 -0600
Subject: [PATCH 098/134] Avoid WiFi static buffer

Static buffers fix the ESP-Now multicast issue, but break WiFi normally. Thus, only use static buffers when only ESP-Now is on. It's not yet clear if we can have both WiFi and ESP-Now Multicast. There may be a fix in v2.0.4.
---
 Firmware/RTK_Surveyor/WiFi.ino | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 0867d09d1..ce49dec7f 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -209,16 +209,25 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
-    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
-    WiFi.mode(WIFI_STA);
 
 #ifdef COMPILE_ESPNOW
     if (espnowState > ESPNOW_OFF)
+    {
+      WiFi.mode(WIFI_MODE_NULL); //We must go Null before setting static buffers
+      WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
+      WiFi.mode(WIFI_STA);
+
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now
+    }
     else
+    {
+      WiFi.mode(WIFI_STA);
+
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols
+    }
 #else
     //Be sure the standard protocols are turned on. ESP Now have have previously turned them off.
+    WiFi.mode(WIFI_STA);
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
 #endif
 
@@ -257,6 +266,7 @@ void wifiStop()
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
   {
+    WiFi.mode(WIFI_MODE_NULL); //We must go Null before setting static buffers
     WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
 

From 890ad1c724fd10a55a4d910a121214006379f8b5 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 10:31:13 -0600
Subject: [PATCH 099/134] Separate RTCM counts and checking from NtripServer

Fix for #292. There are four ways RTCM can be transmitted: Bluetooth, WiFi NTRIP Server, ESP-Now, and external radio. The RTCM count is now processed based on timeout of RTCM bytes received over I2C. RTCM is also passed to NtripServer and ESPNow when enabled. checkRtcmMessage() (originally part of NTRIP Server) has been separated but is non-fucntional.
---
 Firmware/RTK_Surveyor/Base.ino         |  31 +++-
 Firmware/RTK_Surveyor/Display.ino      |   6 +-
 Firmware/RTK_Surveyor/NVM.ino          |   6 +-
 Firmware/RTK_Surveyor/NtripServer.ino  | 200 ++++---------------------
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  19 ++-
 Firmware/RTK_Surveyor/menuSystem.ino   |   6 +-
 Firmware/RTK_Surveyor/settings.h       |   2 +-
 Firmware/RTK_Surveyor/support.ino      | 115 +++++++++++++-
 8 files changed, 196 insertions(+), 189 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index 41e68589c..750e930b8 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -227,7 +227,34 @@ bool startFixedBase()
 //Useful for passing the RTCM correction data to a radio, Ntrip broadcaster, etc.
 void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
 {
-  ntripServerProcessRTCM(incoming);
+  //Check for too many digits
+  if (settings.enableResetDisplay == true)
+  {
+    if (rtcmPacketsSent > 99) rtcmPacketsSent = 1; //Trim to two digits to avoid overlap
+  }
+  else if (logIncreasing == true)
+  {
+    if (rtcmPacketsSent > 999) rtcmPacketsSent = 1; //Trim to three digits to avoid log icon
+  }
+  else
+  {
+    if (rtcmPacketsSent > 9999) rtcmPacketsSent = 1;
+  }
 
-  espnowProcessRTCM(incoming);
+  //Determine if we should check this byte with the RTCM checker or simply pass it along
+  bool passAlongIncomingByte = true;
+
+  if (settings.enableRtcmMessageChecking == true)
+    passAlongIncomingByte &= checkRtcmMessage(incoming);
+
+  //Give this byte to the various possible transmission methods
+  if (passAlongIncomingByte)
+  {
+    rtcmLastReceived = millis();
+    rtcmBytesSent++;
+    
+    ntripServerProcessRTCM(incoming);
+
+    espnowProcessRTCM(incoming);
+  }
 }
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 73924fcd7..53ca98933 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -1456,10 +1456,10 @@ void printTextwithKerning(const char *newText, uint8_t xPos, uint8_t yPos, uint8
 void paintRTCM()
 {
   int yPos = 17;
-  if (bluetoothGetState() != BT_OFF)
-    printTextCenter("Xmitting", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
-  else
+  if (ntripServerState == NTRIP_SERVER_CASTING)
     printTextCenter("Casting", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
+  else
+    printTextCenter("Xmitting", yPos, QW_FONT_8X16, 1, false);  //text, y, font type, kerning, inverted
 
   oled.setCursor(0, 39); //x, y
   oled.setFont(QW_FONT_5X7);
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 9a1a2ce4c..2f37d7529 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -266,7 +266,7 @@ void recordSystemSettingsToFile(File * settingsFile)
     settingsFile->println(tempString);
   }
   settingsFile->printf("%s=%d\n\r", "espnowPeerCount", settings.espnowPeerCount);
-  settingsFile->printf("%s=%d\n\r", "enableNtripServerMessageParsing", settings.enableNtripServerMessageParsing);
+  settingsFile->printf("%s=%d\n\r", "enableRtcmMessageChecking", settings.enableRtcmMessageChecking);
   settingsFile->printf("%s=%d\n\r", "bluetoothRadioType", settings.bluetoothRadioType);
 
   //Record constellation settings
@@ -874,8 +874,8 @@ bool parseLine(char* str, Settings *settings)
     settings->radioType = (RadioType_e)d;
   else if (strcmp(settingName, "espnowPeerCount") == 0)
     settings->espnowPeerCount = d;
-  else if (strcmp(settingName, "enableNtripServerMessageParsing") == 0)
-    settings->enableNtripServerMessageParsing = d;
+  else if (strcmp(settingName, "enableRtcmMessageChecking") == 0)
+    settings->enableRtcmMessageChecking = d;
   else if (strcmp(settingName, "radioType") == 0)
     settings->radioType = (RadioType_e)d;
   else if (strcmp(settingName, "bluetoothRadioType") == 0)
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index c2fc963b9..1fff20ded 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -156,123 +156,6 @@ void ntripServerResponse(char * response, size_t maxLength)
   *response = '\0';
 }
 
-static byte ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
-
-//Parse the RTCM transport data
-bool ntripServerRtcmMessage(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 (ntripServerCrcState)
-  {
-    //Read the upper two bits of the length
-    case RTCM_TRANSPORT_STATE_READ_LENGTH_1:
-      if (!(data & 3))
-      {
-        length = data << 8;
-        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_LENGTH_2;
-        break;
-      }
-
-      //Wait for the preamble byte
-      ntripServerCrcState = 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)
-      {
-        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_LENGTH_1;
-        sendMessage = (ntripServerState == NTRIP_SERVER_CASTING);
-      }
-      break;
-
-    //Read the lower 8 bits of the length
-    case RTCM_TRANSPORT_STATE_READ_LENGTH_2:
-      length |= data;
-      bytesRemaining = length;
-      ntripServerCrcState = 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;
-      ntripServerCrcState = 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;
-      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_DATA;
-      break;
-
-    //Read the rest of the message
-    case RTCM_TRANSPORT_STATE_READ_DATA:
-      bytesRemaining -= 1;
-      if (bytesRemaining <= 0)
-        ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_1;
-      break;
-
-    //Read the upper 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_1:
-      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_2;
-      break;
-
-    //Read the middle 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_2:
-      ntripServerCrcState = RTCM_TRANSPORT_STATE_READ_CRC_3;
-      break;
-
-    //Read the lower 8 bits of the CRC
-    case RTCM_TRANSPORT_STATE_READ_CRC_3:
-      ntripServerCrcState = RTCM_TRANSPORT_STATE_CHECK_CRC;
-      break;
-  }
-
-  //Check the CRC
-  if (ntripServerCrcState == RTCM_TRANSPORT_STATE_CHECK_CRC)
-  {
-    ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
-
-    //Account for this message
-    rtcmPacketsSent++;
-
-    //Display the RTCM message header
-    if (settings.enablePrintNtripServerRtcm && (!inMainMenu))
-    {
-      printTimeStamp();
-      Serial.printf ("    Tx RTCM %d, %2d bytes\r\n", message, 3 + length + 3);
-    }
-  }
-
-  //Let the upper layer know if this message should be sent
-  return sendMessage && (ntripServerState == NTRIP_SERVER_CASTING);
-}
-
 //Update the state of the NTRIP server state machine
 void ntripServerSetState(byte newState)
 {
@@ -319,75 +202,52 @@ void ntripServerSetState(byte newState)
 //This function gets called as each RTCM byte comes in
 void ntripServerProcessRTCM(uint8_t incoming)
 {
-  //Check for too many digits
-  if (settings.enableResetDisplay == true)
-  {
-    if (rtcmPacketsSent > 99) rtcmPacketsSent = 1; //Trim to two digits to avoid overlap
-  }
-  else if (logIncreasing == true)
-  {
-    if (rtcmPacketsSent > 999) rtcmPacketsSent = 1; //Trim to three digits to avoid log icon
-  }
-  else
-  {
-    if (rtcmPacketsSent > 9999) rtcmPacketsSent = 1;
-  }
-
 #ifdef  COMPILE_WIFI
-  uint32_t currentMilliseconds;
-  static uint32_t previousMilliseconds = 0;
 
-  if (online.rtc && (ntripServerState == NTRIP_SERVER_CASTING))
+  if (ntripServerState == NTRIP_SERVER_CASTING)
   {
-    //Timestamp the RTCM messages
-    currentMilliseconds = millis();
-    if (settings.enablePrintNtripServerRtcm
-        && (!settings.enableNtripServerMessageParsing)
-        && (!inMainMenu)
-        && ((currentMilliseconds - previousMilliseconds) > 5))
-    {
-      printTimeStamp();
-      //         1         2         3
-      //123456789012345678901234567890
-      //YYYY-mm-dd HH:MM:SS.xxxrn0
-      struct tm timeinfo = rtc.getTimeStruct();
-      char timestamp[30];
-      strftime(timestamp, sizeof(timestamp), "%Y-%m-%d %H:%M:%S", &timeinfo);
-      Serial.printf("    Tx RTCM: %s.%03ld\r\n", timestamp, rtc.getMillis());
-    }
-    previousMilliseconds = currentMilliseconds;
-
-    //Pass this message to the RTCM checker
-    bool passAlongIncomingByte = true;
-
-    //Check this byte with RTCM checker if enabled
-    if (settings.enableNtripServerMessageParsing == true)
-      passAlongIncomingByte &= ntripServerRtcmMessage(incoming);
-    else
+    //Generate and print timestamp if needed
+    uint32_t currentMilliseconds;
+    static uint32_t previousMilliseconds = 0;
+    if (online.rtc)
     {
-      //If we have not gotten new RTCM bytes for a period of time, assume end of frame
-      if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
+      //Timestamp the RTCM messages
+      currentMilliseconds = millis();
+      if (settings.enablePrintNtripServerRtcm
+          && (!settings.enableRtcmMessageChecking)
+          && (!inMainMenu)
+          && ((currentMilliseconds - previousMilliseconds) > 5))
       {
-        if(!inMainMenu) log_d("NTRIP Server transmitted %d RTCM bytes to Caster", ntripServerBytesSent);
-        ntripServerBytesSent = 0;
-        rtcmPacketsSent++; //If not checking RTCM CRC, count based on timeout
+        printTimeStamp();
+        //         1         2         3
+        //123456789012345678901234567890
+        //YYYY-mm-dd HH:MM:SS.xxxrn0
+        struct tm timeinfo = rtc.getTimeStruct();
+        char timestamp[30];
+        strftime(timestamp, sizeof(timestamp), "%Y-%m-%d %H:%M:%S", &timeinfo);
+        Serial.printf("    Tx RTCM: %s.%03ld\r\n", timestamp, rtc.getMillis());
       }
+      previousMilliseconds = currentMilliseconds;
     }
 
-    if (passAlongIncomingByte)
+    //If we have not gotten new RTCM bytes for a period of time, assume end of frame
+    if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
     {
-      ntripServer->write(incoming); //Send this byte to socket
-      ntripServerBytesSent++;
-      ntripServerTimer = millis();
-      wifiOutgoingRTCM = true;
+      if (!inMainMenu) log_d("NTRIP Server transmitted %d RTCM bytes to Caster", ntripServerBytesSent);
+      ntripServerBytesSent = 0;
     }
+
+    ntripServer->write(incoming); //Send this byte to socket
+    ntripServerBytesSent++;
+    ntripServerTimer = millis();
+    wifiOutgoingRTCM = true;
   }
 
   //Indicate that the GNSS is providing correction data
   else if (ntripServerState == NTRIP_SERVER_WAIT_GNSS_DATA)
   {
     ntripServerSetState(NTRIP_SERVER_CONNECTING);
-    ntripServerCrcState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+    rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
   }
 #endif  //COMPILE_WIFI
 }
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 3d7965e91..882367f6a 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -401,7 +401,9 @@ uint64_t lastLogSize = 0;
 bool logIncreasing = false; //Goes true when log file is greater than lastLogSize
 bool reuseLastLog = false; //Goes true if we have a reset due to software (rather than POR)
 
-uint32_t rtcmPacketsSent = 0; //Used to count RTCM packets sent via processRTCM()
+uint16_t rtcmPacketsSent = 0; //Used to count RTCM packets sent via processRTCM()
+uint32_t rtcmBytesSent = 0;
+uint32_t rtcmLastReceived = 0;
 
 uint32_t maxSurveyInWait_s = 60L * 15L; //Re-start survey-in after X seconds
 
@@ -468,6 +470,8 @@ bool wifiOutgoingRTCM = false;
 bool espnowIncomingRTCM = false;
 bool espnowOutgoingRTCM = false;
 
+static byte rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 /*
                      +---------------------------------------+      +----------+
@@ -840,6 +844,13 @@ void updateRTC()
 //Internal ESP NOW radio - Use the ESP32 to directly transmit/receive RTCM over 2.4GHz (no WiFi needed)
 void updateRadio()
 {
+  //If we have not gotten new RTCM bytes for a period of time, assume end of frame
+  if (millis() - rtcmLastReceived > 50 && rtcmBytesSent > 0)
+  {
+    rtcmBytesSent = 0;
+    rtcmPacketsSent++; //If not checking RTCM CRC, count based on timeout
+  }
+
 #ifdef COMPILE_ESPNOW
   if (settings.radioType == RADIO_ESPNOW)
   {
@@ -849,11 +860,9 @@ void updateRadio()
       //then we've reached the end of the RTCM stream. Send partial buffer.
       if (espnowOutgoingSpot > 0 && (millis() - espnowLastAdd) > 50)
       {
-        rtcmPacketsSent++; //Assume this is the end of the RTCM frame
-
         esp_now_send(0, (uint8_t *) &espnowOutgoing, espnowOutgoingSpot); //Send partial packet to all peers
-        
-        if(!inMainMenu) log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
+
+        if (!inMainMenu) log_d("ESPNOW transmitted %d RTCM bytes", espnowBytesSent + espnowOutgoingSpot);
         espnowBytesSent = 0;
         espnowOutgoingSpot = 0; //Reset
       }
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index ada55ba7d..9de333206 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -385,8 +385,8 @@ void menuDebug()
     Serial.print("27) Print duplicate states: ");
     Serial.printf("%s\r\n", settings.enablePrintDuplicateStates ? "Enabled" : "Disabled");
 
-    Serial.print("28) NTRIP server message parser: ");
-    Serial.printf("%s\r\n", settings.enableNtripServerMessageParsing ? "Enabled" : "Disabled");
+    Serial.print("28) RTCM message checking: ");
+    Serial.printf("%s\r\n", settings.enableRtcmMessageChecking ? "Enabled" : "Disabled");
 
     Serial.println("t) Enter Test Screen");
 
@@ -568,7 +568,7 @@ void menuDebug()
       }
       else if (incoming == 28)
       {
-        settings.enableNtripServerMessageParsing ^= 1;
+        settings.enableRtcmMessageChecking ^= 1;
       }
       else
         printUnknown(incoming);
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 385d90977..eff25c893 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -472,7 +472,7 @@ typedef struct {
   RadioType_e radioType = RADIO_EXTERNAL;
   uint8_t espnowPeers[5][6]; //Max of 5 peers. Contains the MAC addresses (6 bytes) of paired units
   uint8_t espnowPeerCount;
-  bool enableNtripServerMessageParsing = false;
+  bool enableRtcmMessageChecking = false;
   BluetoothRadioType_e bluetoothRadioType = BLUETOOTH_RADIO_SPP;
 } Settings;
 Settings settings;
diff --git a/Firmware/RTK_Surveyor/support.ino b/Firmware/RTK_Surveyor/support.ino
index d57e1b3c6..0ccc155b0 100644
--- a/Firmware/RTK_Surveyor/support.ino
+++ b/Firmware/RTK_Surveyor/support.ino
@@ -65,8 +65,8 @@ int getMenuChoice(int * value, int numberOfSeconds)
 
       //Handle single character input
       if ((!digits)
-        && (((incoming >= 'a') && (incoming <= 'z'))
-        || ((incoming >= 'A') && (incoming <= 'Z'))))
+          && (((incoming >= 'a') && (incoming <= 'z'))
+              || ((incoming >= 'A') && (incoming <= 'Z'))))
       {
         //Echo the incoming character
         Serial.printf("%c\r\n", incoming);
@@ -435,3 +435,114 @@ void printTimeStamp()
     previousMilliseconds = currentMilliseconds;
   }
 }
+
+//Parse the RTCM transport data
+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:
+      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;
+  }
+
+  //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.enablePrintNtripServerRtcm && (!inMainMenu))
+    {
+      printTimeStamp();
+      Serial.printf ("    Tx RTCM %d, %2d bytes\r\n", message, 3 + length + 3);
+    }
+  }
+
+  //Let the upper layer know if this message should be sent
+  return sendMessage;
+}

From 63da5a4d562229136fb163521b19386212efc754 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 10:44:27 -0600
Subject: [PATCH 100/134] Add test features for ESP-Now menu

Only available in developer mode
---
 Firmware/RTK_Surveyor/menuMain.ino | 32 ++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 891918c2f..a2cc9b83f 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -338,6 +338,10 @@ void menuRadio()
 
       Serial.println("2) Pair radios");
       Serial.println("3) Forget all radios");
+#ifdef ENABLE_DEVELOPER
+      Serial.println("4) Add dummy radio");
+      Serial.println("5) Send dummy data");
+#endif
     }
 
     Serial.println("x) Exit");
@@ -406,6 +410,34 @@ void menuRadio()
         Serial.println("Radios forgotten");
       }
     }
+#ifdef ENABLE_DEVELOPER
+    else if (settings.radioType == RADIO_ESPNOW && incoming == 4)
+    {
+      //TODO remove
+      uint8_t peer1[] = {0xB8, 0xD6, 0x1A, 0x0D, 0x8F, 0x9C}; //Facet
+      if (esp_now_is_peer_exist(peer1) == true)
+        log_d("Peer already exists");
+      else
+      {
+        //Add new peer to system
+        espnowAddPeer(peer1);
+
+        //Record this MAC to peer list
+        memcpy(settings.espnowPeers[settings.espnowPeerCount], peer1, 6);
+        settings.espnowPeerCount++;
+        settings.espnowPeerCount %= ESPNOW_MAX_PEERS;
+        recordSystemSettings();
+      }
+
+      espnowSetState(ESPNOW_PAIRED);
+    }
+    else if (settings.radioType == RADIO_ESPNOW && incoming == 5)
+    {
+      //TODO remove
+      uint8_t espnowData[] = "This is the long string to test how quickly we can send one string to the other unit. I am going to need a much longer sentence if I want to get a long amount of data into one transmission. This is nearing 200 characters but needs to be near 250.";
+      esp_now_send(0, (uint8_t *) &espnowData, sizeof(espnowData)); //Send packet to all peers
+    }
+#endif
 
     else if (incoming == STATUS_PRESSED_X)
       break;

From 30c28076bc2d3615f12c58c15df1e965746a4c1a Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 10:46:01 -0600
Subject: [PATCH 101/134] Remove COMPILE_IDLE_TASKS gate

Feature is controlled, and turned off by default, via setting enablePrintIdleTime
---
 Firmware/RTK_Surveyor/Begin.ino        | 2 --
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 1 -
 Firmware/RTK_Surveyor/Tasks.ino        | 2 --
 3 files changed, 5 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index e1aa45311..61b4d8f21 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -705,7 +705,6 @@ bool beginExternalTriggers()
 
 void beginIdleTasks()
 {
-#ifdef  COMPILE_IDLE_TASKS
   if (settings.enablePrintIdleTime == true)
   {
     char taskName[32];
@@ -724,7 +723,6 @@ void beginIdleTasks()
           index); //Core where task should run, 0=core, 1=Arduino
     }
   }
-#endif  //COMPILE_IDLE_TASKS
 }
 
 void beginI2C()
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 8a4c7e763..a3bdb3c58 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -30,7 +30,6 @@ const int FIRMWARE_VERSION_MINOR = 4;
 #define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_L_BAND //Comment out to remove L-Band functionality
-#define COMPILE_IDLE_TASKS  //Comment out to remove idle tasks
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 66710a5f6..5482e659d 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -621,7 +621,6 @@ void ButtonCheckTask(void *e)
   }
 }
 
-#ifdef  COMPILE_IDLE_TASKS
 void idleTask(void *e)
 {
   int cpu = xPortGetCoreID();
@@ -671,4 +670,3 @@ void idleTask(void *e)
     taskYIELD();
   }
 }
-#endif  //COMPILE_IDLE_TASKS

From 0b8529de3d6827dbdf4728bf55c14790caefe1ec Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 14:33:42 -0600
Subject: [PATCH 102/134] Revert commit a93bf56 ESP-Now/WiFi static buffers

Using static buffers to fix the ESP-Now multicast issue breaks WiFi. We may need to wait until the ESP32 core incorporates the cfg.cache_tx_buf_num = 4; fix.
---
 Firmware/RTK_Surveyor/ESPNOW.ino | 1 -
 Firmware/RTK_Surveyor/WiFi.ino   | 9 +--------
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index 4a231079e..d20f57650 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -93,7 +93,6 @@ void espnowStart()
   if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Radio is off, turn it on
-    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
 
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index ce49dec7f..73d8f51bd 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -209,20 +209,15 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
+      WiFi.mode(WIFI_STA);
 
 #ifdef COMPILE_ESPNOW
     if (espnowState > ESPNOW_OFF)
     {
-      WiFi.mode(WIFI_MODE_NULL); //We must go Null before setting static buffers
-      WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
-      WiFi.mode(WIFI_STA);
-
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now
     }
     else
     {
-      WiFi.mode(WIFI_STA);
-
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols
     }
 #else
@@ -266,8 +261,6 @@ void wifiStop()
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
   {
-    WiFi.mode(WIFI_MODE_NULL); //We must go Null before setting static buffers
-    WiFi.useStaticBuffers(true); //Fix for one to many ESP-Now bug, prior to ESP32 core v2.0.4: https://github.com/espressif/esp-idf/issues/8992
     WiFi.mode(WIFI_STA);
 
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps

From ab7946d138bd2bb2929d1f6521761c460eec9204 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 14:34:27 -0600
Subject: [PATCH 103/134] Move reset counter slightly to right

---
 Firmware/RTK_Surveyor/Display.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 53ca98933..fba584329 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2275,7 +2275,7 @@ void paintResets()
   if (settings.enableResetDisplay == true)
   {
     oled.setFont(QW_FONT_5X7); //Small font
-    oled.setCursor(16 + (8 * 3) + 6, 38); //x, y
+    oled.setCursor(16 + (8 * 3) + 7, 38); //x, y
     oled.print(settings.resetCount);
   }
 }

From 908cdeabeee346fbd83666b5c9487526ec6b09f7 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 15:26:59 -0600
Subject: [PATCH 104/134] Remove unused variables

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index fc0c0b07d..204737da0 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -372,7 +372,6 @@ char deviceName[70]; //The serial string that is broadcast. Ex: 'Surveyor Base-B
 const byte menuTimeout = 15; //Menus will exit/timeout after this number of seconds
 int systemTime_minutes = 0; //Used to test if logging is less than max minutes
 uint32_t powerPressedStartTime = 0; //Times how long user has been holding power button, used for power down
-uint8_t debounceDelay = 20; //ms to delay between button reads
 bool inMainMenu = false; //Set true when in the serial config menu system.
 
 uint32_t lastBattUpdate = 0;
@@ -408,8 +407,6 @@ uint32_t maxSurveyInWait_s = 60L * 15L; //Re-start survey-in after X seconds
 
 uint32_t totalWriteTime = 0; //Used to calculate overall write speed using SdFat library
 
-bool setupByPowerButton = false; //We can change setup via tapping power button
-
 uint16_t svinObservationTime = 0; //Use globals so we don't have to request these values multiple times (slow response)
 float svinMeanAccuracy = 0;
 
@@ -423,17 +420,6 @@ uint32_t triggerCount = 0; //Global copy - TM2 event counter
 uint32_t towMsR = 0; //Global copy - Time Of Week of rising edge (ms)
 uint32_t towSubMsR = 0; //Global copy - Millisecond fraction of Time Of Week of rising edge in nanoseconds
 
-int timeBetweenGGAUpdate_ms = 10000; //GGA is required for Rev2 NTRIP casters. Don't transmit but once every 10 seconds
-long lastTransmittedGGA_ms = 0;
-
-//Used for GGA sentence parsing from incoming NMEA
-bool ggaSentenceStarted = false;
-bool ggaSentenceComplete = false;
-bool ggaTransmitComplete = false; //Goes true once we transmit GGA to the caster
-char ggaSentence[128] = {0};
-byte ggaSentenceSpot = 0;
-int ggaSentenceEndSpot = 0;
-
 bool newAPSettings = false; //Goes true when new setting is received via AP config. Allows us to record settings when combined with a reset.
 
 unsigned int binBytesSent = 0; //Tracks firmware bytes sent over WiFi OTA update via AP config.

From 99392adf30eb2423eee8fa0710e950fb4c15bf9d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 15:27:11 -0600
Subject: [PATCH 105/134] Add additional log tests

---
 Firmware/RTK_Surveyor/menuMessages.ino | 22 ++++++++++++++++++++++
 Firmware/RTK_Surveyor/settings.h       |  4 ++++
 2 files changed, 26 insertions(+)

diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index 6406a7654..3bf78a6c8 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -757,6 +757,28 @@ void updateLogTest()
       messages = 7;
       semaphoreWait = 10;
       break;
+
+    case (LOGTEST_4HZ_5MSG_0MS):
+      rate = 4;
+      messages = 5;
+      semaphoreWait = 0;
+      break;
+    case (LOGTEST_4HZ_7MSG_0MS):
+      rate = 4;
+      messages = 7;
+      semaphoreWait = 0;
+      break;
+    case (LOGTEST_10HZ_5MSG_0MS):
+      rate = 10;
+      messages = 5;
+      semaphoreWait = 0;
+      break;
+    case (LOGTEST_10HZ_7MSG_0MS):
+      rate = 10;
+      messages = 7;
+      semaphoreWait = 0;
+      break;
+
     case (LOGTEST_4HZ_5MSG_50MS):
       rate = 4;
       messages = 5;
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index e409b74c3..2108137c8 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -184,6 +184,10 @@ enum LogTestState
   LOGTEST_4HZ_7MSG_10MS,
   LOGTEST_10HZ_5MSG_10MS,
   LOGTEST_10HZ_7MSG_10MS,
+  LOGTEST_4HZ_5MSG_0MS,
+  LOGTEST_4HZ_7MSG_0MS,
+  LOGTEST_10HZ_5MSG_0MS,
+  LOGTEST_10HZ_7MSG_0MS,
   LOGTEST_4HZ_5MSG_50MS,
   LOGTEST_4HZ_7MSG_50MS,
   LOGTEST_10HZ_5MSG_50MS,

From 25b7b8f77203247ad1ca779ae67c48bd0c4d0c4e Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 16:04:56 -0600
Subject: [PATCH 106/134] Blink base icons during wait

---
 Firmware/RTK_Surveyor/Display.ino | 26 +++++++++++++++++++++++---
 1 file changed, 23 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index fba584329..f4618bcf4 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -1080,6 +1080,7 @@ uint32_t setWiFiIcon()
 uint32_t setModeIcon()
 {
   uint32_t icons = 0;
+
   switch (systemState)
   {
     case (STATE_ROVER_NOT_STARTED):
@@ -1100,17 +1101,17 @@ uint32_t setModeIcon()
     case (STATE_BASE_NOT_STARTED):
       //Do nothing. Static display shown during state change.
       break;
-
     case (STATE_BASE_TEMP_SETTLE):
+      icons |= blinkBaseIcon(ICON_BASE_TEMPORARY);
       break;
     case (STATE_BASE_TEMP_SURVEY_STARTED):
-      //TODO need blinking
-      icons |= ICON_BASE_TEMPORARY;
+      icons |= blinkBaseIcon(ICON_BASE_TEMPORARY);
       break;
     case (STATE_BASE_TEMP_TRANSMITTING):
       icons |= ICON_BASE_TEMPORARY;
       break;
     case (STATE_BASE_FIXED_NOT_STARTED):
+      //Do nothing. Static display shown during state change.
       break;
     case (STATE_BASE_FIXED_TRANSMITTING):
       icons |= ICON_BASE_FIXED;
@@ -1122,6 +1123,25 @@ uint32_t setModeIcon()
   return (icons);
 }
 
+uint32_t blinkBaseIcon(uint32_t iconType)
+{
+  uint32_t icons = 0;
+
+  //Limit how often we update this spot
+  if (millis() - thirdRadioSpotTimer > 1000)
+  {
+    thirdRadioSpotTimer = millis();
+    thirdRadioSpotBlink ^= 1; //Share the spot
+  }
+
+  if (thirdRadioSpotBlink == false)
+    icons |= iconType;
+  else
+    icons |= ICON_BLANK_RIGHT;
+
+  return icons;
+}
+
 /*
                111111111122222222223333333333444444444455555555556666
      0123456789012345678901234567890123456789012345678901234567890123

From 57b298efdd8dda849e6658ad49a38ce01ceebbf6 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 16:05:09 -0600
Subject: [PATCH 107/134] Add NMEA message to log between tests

---
 Firmware/RTK_Surveyor/menuMessages.ino | 20 ++++++++++++++++++--
 Firmware/RTK_Surveyor/settings.h       |  1 +
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index 3bf78a6c8..9b75fac7f 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -804,7 +804,7 @@ void updateLogTest()
       //Reduce rate
       rate = 4;
       messages = 5;
-      semaphoreWait = 50;
+      semaphoreWait = 10;
       setLogTestFrequencyMessages(rate, messages); //Set messages and rate for both UART1 and USB ports
       log_d("Log Test Complete");
       break;
@@ -823,6 +823,22 @@ void updateLogTest()
 
     startCurrentLogTime_minutes = millis() / 1000L / 60; //Mark now as start of logging
 
-    log_d("Running log test: %dHz, %dMsg, %dMS", rate, messages, semaphoreWait);
+    char logMessage[100];
+    sprintf(logMessage, "Start log test: %dHz, %dMsg, %dMS", rate, messages, semaphoreWait);
+    
+    char nmeaMessage[100]; //Max NMEA sentence length is 82
+    createNMEASentence(CUSTOM_NMEA_TYPE_LOGTEST_STATUS, nmeaMessage, logMessage); //textID, buffer, text
+
+    if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_longWait_ms) == pdPASS)
+    {
+      ubxFile->println(nmeaMessage);
+      xSemaphoreGive(sdCardSemaphore);
+    }
+    else
+    {
+      log_w("sdCardSemaphore failed to yield, menuMessages.ino line %d", __LINE__);
+    }
+
+    log_d("%s", logMessage);
   }
 }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 2108137c8..b21a49439 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -95,6 +95,7 @@ typedef enum
   CUSTOM_NMEA_TYPE_SYSTEM_VERSION,
   CUSTOM_NMEA_TYPE_ZED_VERSION,
   CUSTOM_NMEA_TYPE_STATUS,
+  CUSTOM_NMEA_TYPE_LOGTEST_STATUS,
 } customNmeaType_e;
 
 //Freeze and blink LEDs if we hit a bad error

From 1dc5c3496b696f02bcc0c510eaeebe2b9c9e46a9 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 16:07:17 -0600
Subject: [PATCH 108/134] Remove BT Congestion settings

Left over from Bluetooth congestion settings (and custom BT implementation)
---
 Firmware/RTK_Surveyor/Bluetooth.ino     | 11 --------
 Firmware/RTK_Surveyor/NVM.ino           |  3 --
 Firmware/RTK_Surveyor/Tasks.ino         | 37 +++++++------------------
 Firmware/RTK_Surveyor/bluetoothSelect.h | 14 ----------
 Firmware/RTK_Surveyor/menuSystem.ino    |  8 ------
 Firmware/RTK_Surveyor/settings.h        |  1 -
 6 files changed, 10 insertions(+), 64 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 6e2773c5c..d019868d8 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -69,17 +69,6 @@ byte bluetoothGetState()
 #endif  //COMPILE_BT
 }
 
-//Determine if the Bluetooth link is congested
-bool bluetoothIsCongested()
-{
-#ifdef COMPILE_BT
-  //return bluetoothSerial->isCongested();
-  return false;
-#else   //COMPILE_BT
-  return false;
-#endif  //COMPILE_BT
-}
-
 //Read data from the Bluetooth device
 int bluetoothReadBytes(uint8_t * buffer, int length)
 {
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 2f37d7529..779689416 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -181,7 +181,6 @@ void recordSystemSettingsToFile(File * settingsFile)
   settingsFile->printf("%s=%d\n\r", "sppTxQueueSize", settings.sppTxQueueSize);
   settingsFile->printf("%s=%d\n\r", "dynamicModel", settings.dynamicModel);
   settingsFile->printf("%s=%d\n\r", "lastState", settings.lastState);
-  settingsFile->printf("%s=%d\n\r", "throttleDuringSPPCongestion", settings.throttleDuringSPPCongestion);
   settingsFile->printf("%s=%d\n\r", "enableSensorFusion", settings.enableSensorFusion);
   settingsFile->printf("%s=%d\n\r", "autoIMUmountAlignment", settings.autoIMUmountAlignment);
   settingsFile->printf("%s=%d\n\r", "enableResetDisplay", settings.enableResetDisplay);
@@ -688,8 +687,6 @@ bool parseLine(char* str, Settings *settings)
       settings->updateZEDSettings = true;
     }
   }
-  else if (strcmp(settingName, "throttleDuringSPPCongestion") == 0)
-    settings->throttleDuringSPPCongestion = d;
   else if (strcmp(settingName, "enableSensorFusion") == 0)
   {
     if (settings->enableSensorFusion != d)
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 5482e659d..332a5e08b 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -14,11 +14,11 @@ void F9PSerialWriteTask(void *e)
       {
         //Pass bytes to GNSS receiver
         int s = bluetoothReadBytes(wBuffer, sizeof(wBuffer));
-        
+
         //TODO - control if this RTCM source should be listened to or not
         serialGNSS.write(wBuffer, s);
         bluetoothIncomingRTCM = true;
-        if(!inMainMenu) log_d("Bluetooth received %d RTCM bytes, sent to ZED", s);
+        if (!inMainMenu) log_d("Bluetooth received %d RTCM bytes, sent to ZED", s);
 
         if (settings.enableTaskReports == true)
           Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
@@ -170,34 +170,17 @@ void F9PSerialReadTask(void *e)
         if ((btTail + btBytesToSend) >= sizeof(rBuffer))
           btBytesToSend = sizeof(rBuffer) - btTail;
 
-        if ((bluetoothIsCongested() == false) || (settings.throttleDuringSPPCongestion == false))
+        //Push new data to BT SPP if not congested or not throttling
+        btBytesToSend = bluetoothWriteBytes(&rBuffer[btTail], btBytesToSend);
+        if (btBytesToSend > 0)
         {
-          //Push new data to BT SPP if not congested or not throttling
-          btBytesToSend = bluetoothWriteBytes(&rBuffer[btTail], btBytesToSend);
-          if (btBytesToSend > 0)
-          {
-            //If we are in base mode, assume part of the outgoing data is RTCM
-            if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
-              bluetoothOutgoingRTCM = true;
-          }
-          else
-            log_w("BT failed to send");
+          //If we are in base mode, assume part of the outgoing data is RTCM
+          if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
+            bluetoothOutgoingRTCM = true;
         }
         else
-        {
-          //Don't push data to BT SPP if there is congestion to prevent heap hits.
-          if (btBytesToSend >= (sizeof(rBuffer) - 1))
-          {
-            //Error - no more room in the buffer, drop a buffer's worth of data
-            btTail = dataHead;
-            Serial.printf("ERROR - BT congestion dropped %d bytes: GNSS --> Bluetooth\r\n", btBytesToSend);
-          }
-          else
-          {
-            log_w("BT congestion delayed %d bytes, Tasks.ino line %d", btBytesToSend, __LINE__);
-            btBytesToSend = 0;
-          }
-        }
+          log_w("BT failed to send");
+
 
         //Account for the sent or dropped data
         btTail += btBytesToSend;
diff --git a/Firmware/RTK_Surveyor/bluetoothSelect.h b/Firmware/RTK_Surveyor/bluetoothSelect.h
index decd4d855..7ba9e0a10 100644
--- a/Firmware/RTK_Surveyor/bluetoothSelect.h
+++ b/Firmware/RTK_Surveyor/bluetoothSelect.h
@@ -61,14 +61,6 @@ class BTClassicSerial : public virtual BTSerialInterface, public BluetoothSerial
       return BluetoothSerial::readBytes(buffer, bufferSize);
     }
 
-    bool isCongested()
-    {
-      // Removed congestion testing in v2.4 
-      // TODO Remove settings and checking
-      return(false);
-      //return BluetoothSerial::isCongested();
-    }
-
     size_t write(const uint8_t *buffer, size_t size)
     {
       return BluetoothSerial::write(buffer, size);
@@ -122,12 +114,6 @@ class BTLESerial: public virtual BTSerialInterface, public BleSerial
       return BleSerial::readBytes(buffer, bufferSize);
     }
 
-    bool isCongested()
-    {
-      // not currently supported in this implementation
-      return false;
-    }
-
     size_t write(const uint8_t *buffer, size_t size)
     {
       return BleSerial::write(buffer, size);
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index f2f2ac1a9..5f3fd5ba5 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -321,10 +321,6 @@ void menuDebug()
     Serial.print("6) Set SPP TX Buffer Size: ");
     Serial.println(settings.sppTxQueueSize);
 
-    Serial.print("7) Throttle BT Transmissions During SPP Congestion: ");
-    if (settings.throttleDuringSPPCongestion == true) Serial.println("Enabled");
-    else Serial.println("Disabled");
-
     Serial.printf("8) Display Reset Counter: %d - ", settings.resetCount);
     if (settings.enableResetDisplay == true) Serial.println("Enabled");
     else Serial.println("Disabled");
@@ -465,10 +461,6 @@ void menuDebug()
           settings.sppTxQueueSize = queSize; //Recorded to NVM and file at main menu exit
         }
       }
-      else if (incoming == 7)
-      {
-        settings.throttleDuringSPPCongestion ^= 1;
-      }
       else if (incoming == 8)
       {
         settings.enableResetDisplay ^= 1;
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index b21a49439..f7380e988 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -294,7 +294,6 @@ typedef struct {
   uint16_t sppTxQueueSize = 512;
   uint8_t dynamicModel = DYN_MODEL_PORTABLE;
   SystemState lastState = STATE_ROVER_NOT_STARTED; //For Express, start unit in last known state
-  bool throttleDuringSPPCongestion = true;
   bool enableSensorFusion = false; //If IMU is available, avoid using it unless user specifically selects automotive
   bool autoIMUmountAlignment = true; //Allows unit to automatically establish device orientation in vehicle
   bool enableResetDisplay = false;

From 255bb761fa224da26da07bf745ed537a247ee191 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 16:08:19 -0600
Subject: [PATCH 109/134] Remove TODOs

---
 Firmware/RTK_Surveyor/menuMain.ino | 2 --
 1 file changed, 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index a2cc9b83f..5571e27d5 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -413,7 +413,6 @@ void menuRadio()
 #ifdef ENABLE_DEVELOPER
     else if (settings.radioType == RADIO_ESPNOW && incoming == 4)
     {
-      //TODO remove
       uint8_t peer1[] = {0xB8, 0xD6, 0x1A, 0x0D, 0x8F, 0x9C}; //Facet
       if (esp_now_is_peer_exist(peer1) == true)
         log_d("Peer already exists");
@@ -433,7 +432,6 @@ void menuRadio()
     }
     else if (settings.radioType == RADIO_ESPNOW && incoming == 5)
     {
-      //TODO remove
       uint8_t espnowData[] = "This is the long string to test how quickly we can send one string to the other unit. I am going to need a much longer sentence if I want to get a long amount of data into one transmission. This is nearing 200 characters but needs to be near 250.";
       esp_now_send(0, (uint8_t *) &espnowData, sizeof(espnowData)); //Send packet to all peers
     }

From de93932c81586d4b34d4b8ee32ed6e033d537e48 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Tue, 23 Aug 2022 16:11:32 -0600
Subject: [PATCH 110/134] Move Icon printer to graphics sub folder

---
 {C => Graphics/C}/Icons.c | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename {C => Graphics/C}/Icons.c (100%)

diff --git a/C/Icons.c b/Graphics/C/Icons.c
similarity index 100%
rename from C/Icons.c
rename to Graphics/C/Icons.c

From 67c69829f2d9c8160d8cb24fa29cec872d882bf3 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sun, 21 Aug 2022 19:30:22 -1000
Subject: [PATCH 111/134] Properly display and use the MAC addresses

The ESP32 is assigned 4 MAC addresses but only the base address is
stored in the fuses and is accessible by calling esp_read_mac.  The MAC
address are documented at
https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/misc_system_api.html#mac-address:

1. WiFi Station: Base MAC address
2. WiFi AP:      Base MAC address + 1
3. Bluetooth:    Base MAC address + 2
4. Ethernet:     Base MAC address + 3

L-Band is currently using the Bluetooth address for identification but
the code actually use the WiFi Station address when provisioning the
RTK.
---
 Firmware/RTK_Surveyor/Begin.ino        |  5 ++--
 Firmware/RTK_Surveyor/Bluetooth.ino    |  2 +-
 Firmware/RTK_Surveyor/Display.ino      | 41 ++++++++++++++++----------
 Firmware/RTK_Surveyor/ESPNOW.ino       |  6 ++--
 Firmware/RTK_Surveyor/Form.ino         |  2 +-
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  4 ++-
 Firmware/RTK_Surveyor/menuMain.ino     |  9 ++----
 Firmware/RTK_Surveyor/menuPP.ino       |  4 +--
 Firmware/RTK_Surveyor/menuSystem.ino   |  8 +++--
 9 files changed, 46 insertions(+), 35 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 61b4d8f21..822c6c9e5 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -143,8 +143,9 @@ void beginBoard()
   Serial.printf("SparkFun RTK %s v%d.%d-%s\r\n", platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
 
   //Get unit MAC address
-  esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
-  unitMACAddress[5] += 2; //Convert MAC address to Bluetooth MAC (add 2): https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/system.html#mac-address
+  esp_read_mac(wifiMACAddress, ESP_MAC_WIFI_STA);
+  memcpy(btMACAddress, wifiMACAddress, sizeof(wifiMACAddress));
+  btMACAddress[5] += 2; //Convert MAC address to Bluetooth MAC (add 2): https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/system.html#mac-address
 
   //For all boards, check reset reason. If reset was due to wdt or panic, append last log
   loadSettingsPartial(); //Get resetCount
diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index d019868d8..451718cf6 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -103,7 +103,7 @@ void bluetoothStart()
     else if(systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
       strcpy(stateName, "Base-");
 
-    sprintf(deviceName, "%s %s%02X%02X", platformPrefix, stateName, unitMACAddress[4], unitMACAddress[5]);
+    sprintf(deviceName, "%s %s%02X%02X", platformPrefix, stateName, btMACAddress[4], btMACAddress[5]);
 
     // Select Bluetooth setup
     if (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF)
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 27c89b0d8..f875f6332 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -359,11 +359,10 @@ void updateDisplay()
       if (iconsRadio & ICON_MAC_ADDRESS)
       {
         char macAddress[5];
-#ifdef COMPILE_BT
-        sprintf(macAddress, "%02X%02X", unitMACAddress[4], unitMACAddress[5]);
-#else
-        sprintf(macAddress, "%02X%02X", 0, 0); //If BT is not available, print zeroes
-#endif
+        const uint8_t * rtkMacAddress = getMacAddress();
+
+        //Print only last two digits of MAC
+        sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(0, 3);
         oled.print(macAddress);
@@ -404,12 +403,10 @@ void updateDisplay()
       else if (iconsRadio & ICON_MAC_ADDRESS_2DIGIT)
       {
         char macAddress[5];
+        const uint8_t * rtkMacAddress = getMacAddress();
+
         //Print only last two digits of MAC
-#ifdef COMPILE_BT
-        sprintf(macAddress, "%02X", unitMACAddress[5]);
-#else
-        sprintf(macAddress, "%02X", 0); //If BT is not available, print zeroes
-#endif
+        sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(14, 3);
         oled.print(macAddress);
@@ -1845,9 +1842,6 @@ void paintSystemTest()
 
       int charHeight = 7;
 
-      char macAddress[5];
-      sprintf(macAddress, "%02X%02X", unitMACAddress[4], unitMACAddress[5]);
-
       drawFrame(); //Outside edge
 
       //Test SD, accel, batt, GNSS, mux
@@ -1923,6 +1917,11 @@ void paintSystemTest()
           oled.print("FAIL");
       }
 
+      //Get the last two digits of MAC
+      char macAddress[5];
+      const uint8_t * rtkMacAddress = getMacAddress();
+      sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
+
       //Display MAC address
       oled.setCursor(xOffset, yOffset + (5 * charHeight) ); //x, y
       oled.print(macAddress);
@@ -2512,7 +2511,8 @@ void paintKeyProvisionFail(uint16_t displayTime)
 
     //The MAC address is characters long so we have to split it onto two lines
     char hardwareID[13];
-    sprintf(hardwareID, "%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2]);
+    const uint8_t * rtkMacAddress = getMacAddress();
+    sprintf(hardwareID, "%02X%02X%02X", rtkMacAddress[0], rtkMacAddress[1], rtkMacAddress[2]);
     String macAddress = String(hardwareID);
 
     y += fontHeight;
@@ -2520,7 +2520,7 @@ void paintKeyProvisionFail(uint16_t displayTime)
     oled.setCursor(textX, y);
     oled.print(hardwareID);
 
-    sprintf(hardwareID, "%02X%02X%02X", unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]);
+    sprintf(hardwareID, "%02X%02X%02X", rtkMacAddress[3], rtkMacAddress[4], rtkMacAddress[5]);
     macAddress = String(hardwareID);
 
     y += fontHeight;
@@ -2543,3 +2543,14 @@ void paintEspNowPaired()
 {
   displayMessage("ESP-Now Paired", 2000);
 }
+
+const uint8_t * getMacAddress ()
+{
+  static const uint8_t zero[6] = {0, 0, 0, 0, 0, 0};
+
+  if (bluetoothState != BT_OFF)
+    return btMACAddress;
+  else if (wifiState != WIFI_OFF)
+    return wifiMACAddress;
+  return zero;
+}
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index d20f57650..45f2e3a21 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -249,15 +249,13 @@ esp_err_t espnowSendPairMessage(uint8_t *sendToMac)
   PairMessage pairMessage;
 
   //Get unit MAC address
-  uint8_t unitMACAddress[6];
-  esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
-  memcpy(pairMessage.macAddress, unitMACAddress, 6);
+  memcpy(pairMessage.macAddress, wifiMACAddress, 6);
   pairMessage.encrypt = false;
   pairMessage.channel = 0;
 
   pairMessage.crc = 0; //Calculate CRC
   for (int x = 0 ; x < 6 ; x++)
-    pairMessage.crc += unitMACAddress[x];
+    pairMessage.crc += wifiMACAddress[x];
 
   return (esp_now_send(sendToMac, (uint8_t *) &pairMessage, sizeof(pairMessage))); //Send packet to given MAC
 #else
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index b34780989..8af9bd9e5 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -383,7 +383,7 @@ void createSettingsString(char* settingsCSV)
 
   //L-Band
   char hardwareID[13];
-  sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]); //Get ready for JSON
+  sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", lbandMACAddress[0], lbandMACAddress[1], lbandMACAddress[2], lbandMACAddress[3], lbandMACAddress[4], lbandMACAddress[5]); //Get ready for JSON
   stringRecord(settingsCSV, "hardwareID", hardwareID);
 
   char apDaysRemaining[20];
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 204737da0..8731fcd0a 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -367,7 +367,9 @@ const uint8_t ESPNOW_MAX_PEERS = 5; //Maximum of 5 rovers
 
 //Global variables
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
+#define lbandMACAddress         btMACAddress
+uint8_t wifiMACAddress[6]; //Display this address in the system menu
+uint8_t btMACAddress[6];   //Display this address when Bluetooth is enabled, otherwise display wifiMACAddress
 char deviceName[70]; //The serial string that is broadcast. Ex: 'Surveyor Base-BC61'
 const byte menuTimeout = 15; //Menus will exit/timeout after this number of seconds
 int systemTime_minutes = 0; //Used to test if logging is less than max minutes
diff --git a/Firmware/RTK_Surveyor/menuMain.ino b/Firmware/RTK_Surveyor/menuMain.ino
index 5571e27d5..b403da6cd 100644
--- a/Firmware/RTK_Surveyor/menuMain.ino
+++ b/Firmware/RTK_Surveyor/menuMain.ino
@@ -311,15 +311,10 @@ void menuRadio()
     if (settings.radioType == RADIO_ESPNOW)
     {
       //Pretty print the MAC of all radios
-
-      //Get unit MAC address
-      uint8_t unitMACAddress[6];
-      esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
-
       Serial.print("  Radio MAC: ");
       for (int x = 0 ; x < 5 ; x++)
-        Serial.printf("%02X:", unitMACAddress[x]);
-      Serial.printf("%02X\n\r", unitMACAddress[5]);
+        Serial.printf("%02X:", wifiMACAddress[x]);
+      Serial.printf("%02X\n\r", wifiMACAddress[5]);
 
       if (settings.espnowPeerCount > 0)
       {
diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index d5ecaf5b5..53d0c0dab 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -170,7 +170,7 @@ bool provisionDevice()
   client.setCACert(AWS_PUBLIC_CERT);
 
   char hardwareID[13];
-  sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]); //Get ready for JSON
+  sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", lbandMACAddress[0], lbandMACAddress[1], lbandMACAddress[2], lbandMACAddress[3], lbandMACAddress[4], lbandMACAddress[5]); //Get ready for JSON
 
 #ifdef WHITELISTED_ID
   //Override ID with testing ID
@@ -882,7 +882,7 @@ void menuPointPerfect()
     Serial.println("Menu: PointPerfect Corrections");
 
     char hardwareID[13];
-    sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]); //Get ready for JSON
+    sprintf(hardwareID, "%02X%02X%02X%02X%02X%02X", lbandMACAddress[0], lbandMACAddress[1], lbandMACAddress[2], lbandMACAddress[3], lbandMACAddress[4], lbandMACAddress[5]); //Get ready for JSON
     Serial.printf("Device ID: %s\n\r", hardwareID);
 
     Serial.print("Days until keys expire: ");
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 5f3fd5ba5..4ecfed58b 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -66,9 +66,9 @@ void menuSystem()
       printNEOInfo();
     }
 
-    //Display MAC address
+    //Display Bluetooth MAC address
     char macAddress[5];
-    sprintf(macAddress, "%02X%02X", unitMACAddress[4], unitMACAddress[5]);
+    sprintf(macAddress, "%02X%02X", btMACAddress[4], btMACAddress[5]);
     Serial.print("Bluetooth (");
     Serial.print(macAddress);
     Serial.print("): ");
@@ -107,6 +107,10 @@ void menuSystem()
     Serial.println();
 
 #ifdef COMPILE_WIFI
+    Serial.print("WiFi MAC Address: ");
+    Serial.printf("%02X-%02X-%02X-%02X-%02X-%02X\r\n", wifiMACAddress[0],
+            wifiMACAddress[1], wifiMACAddress[2], wifiMACAddress[3],
+            wifiMACAddress[4], wifiMACAddress[5]);
     if (wifiState == WIFI_CONNECTED)
       wifiDisplayIpAddress();
 #endif

From 6053f12570b422e9171928a03d5f06218126e712 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Sun, 21 Aug 2022 23:19:46 -1000
Subject: [PATCH 112/134] Move Bluetooth test into Debug menu

Move the Bluetooth test code into Bluetooth.ino.

Add a parameter to the test code to enable/disable running the test.

Use the common code in the System menu to just display the Bluetooth
status.

Add a menu item to the Debug menu to run the Bluetooth test.

Display Bluetooth test results all at once to allow additional messages
to be displayed during the test.
---
 Firmware/RTK_Surveyor/Bluetooth.ino  | 46 ++++++++++++++++++++++++++++
 Firmware/RTK_Surveyor/menuSystem.ino | 45 ++++-----------------------
 2 files changed, 52 insertions(+), 39 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 451718cf6..0a1b80f44 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -183,6 +183,52 @@ void bluetoothStop()
   bluetoothIncomingRTCM = false;
 }
 
+//Test the bidirectional communication through UART2
+void bluetoothTest(bool runTest)
+{
+  //Verify the ESP UART2 can communicate TX/RX to ZED UART1
+  const char * bluetoothStatusText;
+  if (online.gnss == true)
+  {
+    if (runTest && (zedUartPassed == false))
+    {
+      stopUART2Tasks(); //Stop absoring ZED serial via task
+
+      i2cGNSS.setSerialRate(460800, COM_PORT_UART1); //Defaults to 460800 to maximize message output support
+      serialGNSS.begin(460800); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
+
+      SFE_UBLOX_GNSS myGNSS;
+      if (myGNSS.begin(serialGNSS) == true) //begin() attempts 3 connections
+      {
+        zedUartPassed = true;
+        bluetoothStatusText = (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF) ? "Off" : "Online";
+      }
+      else
+        bluetoothStatusText = "Offline";
+
+      i2cGNSS.setSerialRate(settings.dataPortBaud, COM_PORT_UART1); //Defaults to 460800 to maximize message output support
+      serialGNSS.begin(settings.dataPortBaud); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
+
+      startUART2Tasks(); //Return to normal operation
+    }
+    else
+      bluetoothStatusText = (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF) ? "Off" : "Online";
+  }
+  else
+    bluetoothStatusText = "GNSS Offline";
+
+  //Display Bluetooth MAC address and test results
+  char macAddress[5];
+  sprintf(macAddress, "%02X%02X", btMACAddress[4], btMACAddress[5]);
+  Serial.print("Bluetooth ");
+  if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
+    Serial.print("Low Energy ");
+  Serial.print("(");
+  Serial.print(macAddress);
+  Serial.print("): ");
+  Serial.println(bluetoothStatusText);
+}
+
 //Write data to the Bluetooth device
 int bluetoothWriteBytes(const uint8_t * buffer, int length)
 {
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 4ecfed58b..5091e8dd6 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -66,45 +66,8 @@ void menuSystem()
       printNEOInfo();
     }
 
-    //Display Bluetooth MAC address
-    char macAddress[5];
-    sprintf(macAddress, "%02X%02X", btMACAddress[4], btMACAddress[5]);
-    Serial.print("Bluetooth (");
-    Serial.print(macAddress);
-    Serial.print("): ");
-
-    //Verify the ESP UART2 can communicate TX/RX to ZED UART1
-    if (online.gnss == true)
-    {
-      if (zedUartPassed == false)
-      {
-        stopUART2Tasks(); //Stop absoring ZED serial via task
-
-        i2cGNSS.setSerialRate(460800, COM_PORT_UART1); //Defaults to 460800 to maximize message output support
-        serialGNSS.begin(460800); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
-
-        SFE_UBLOX_GNSS myGNSS;
-        if (myGNSS.begin(serialGNSS) == true) //begin() attempts 3 connections
-        {
-          zedUartPassed = true;
-          Serial.print("Online");
-        }
-        else
-          Serial.print("Offline");
-
-        i2cGNSS.setSerialRate(settings.dataPortBaud, COM_PORT_UART1); //Defaults to 460800 to maximize message output support
-        serialGNSS.begin(settings.dataPortBaud); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
-
-        startUART2Tasks(); //Return to normal operation
-      }
-      else
-        Serial.print("Online");
-    }
-    else
-    {
-      Serial.print("GNSS Offline");
-    }
-    Serial.println();
+    //Display the Bluetooth status
+    bluetoothTest(false);
 
 #ifdef COMPILE_WIFI
     Serial.print("WiFi MAC Address: ");
@@ -391,6 +354,8 @@ void menuDebug()
     Serial.print("29) Run Logging Test: ");
     Serial.printf("%s\r\n", settings.runLogTest ? "Enabled" : "Disabled");
 
+    Serial.println("30) Run Bluetooth Test");
+
     Serial.println("t) Enter Test Screen");
 
     Serial.println("e) Erase LittleFS");
@@ -578,6 +543,8 @@ void menuDebug()
         //Mark current log file as complete to force test start
         startCurrentLogTime_minutes = systemTime_minutes - settings.maxLogLength_minutes;
       }
+      else if (incoming == 30)
+        bluetoothTest(true);
       else
         printUnknown(incoming);
     }

From b3e2a50683d65137b8cf5707c74802652cf5013d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 12:04:13 -0600
Subject: [PATCH 113/134] Move WiFi mode changes after esp_wifi_set_protocol()

esp_wifi_set_protocol turns off WiFi Station to set the protocols.
---
 Firmware/RTK_Surveyor/ESPNOW.ino | 29 ++++++++++++++++-------
 Firmware/RTK_Surveyor/WiFi.ino   | 40 +++++++++++++++-----------------
 2 files changed, 39 insertions(+), 30 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index d20f57650..cbe4fb7db 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -93,23 +93,28 @@ void espnowStart()
   if (wifiState == WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Radio is off, turn it on
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR); //Stops WiFi Station.
+
     WiFi.mode(WIFI_STA);
 
-    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
-    Serial.println("WiFi off, ESP-Now added to protocols");
+    log_d("WiFi off, ESP-Now added to protocols");
   }
   //If WiFi is on but ESP NOW is off, then enable LR protocol
   else if (wifiState > WIFI_OFF && espnowState == ESPNOW_OFF)
   {
     //Enable WiFi + ESP-Now
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
-    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR);
-    Serial.println("WiFi on, ESP-Now added to protocols");
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Stops WiFi Station.
+
+    WiFi.mode(WIFI_STA);
+
+    log_d("WiFi on, ESP-Now added to protocols");
   }
-  //If ESP-Now is active, WiFi is active, do nothing
+
+  //If ESP-Now is already active, do nothing
   else
   {
-    Serial.println("WiFi already on, ESP-Now already on");
+    log_d("ESP-Now already on");
   }
 
   // Init ESP-NOW
@@ -164,14 +169,20 @@ void espnowStop()
   {
     //ESP Now is the only thing using the radio, turn it off entirely
     WiFi.mode(WIFI_OFF);
-    Serial.println("WiFi Radio off entirely");
+
+    log_d("WiFi Radio off entirely");
   }
   //If WiFi is on, then disable LR protocol
   else if (wifiState > WIFI_OFF)
   {
+    wifiSetState(WIFI_NOT_CONNECTED);
+
     // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
-    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
-    Serial.println("WiFi protocols on, LR protocol off");
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi Station.
+
+    WiFi.mode(WIFI_STA);
+    
+    log_d("WiFi protocols on, LR protocol off");
   }
 
   // Turn off promiscuous WiFi mode
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 73d8f51bd..056c0b806 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -145,13 +145,14 @@ void wifiStartAP()
   //Connect to local router
 #define WIFI_SSID "TRex"
 #define WIFI_PASSWORD "parachutes"
-  WiFi.mode(WIFI_STA);
 
 #ifdef COMPILE_ESPNOW
   // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
-  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+  esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi Station
 #endif
 
+  WiFi.mode(WIFI_STA);
+
   WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
   Serial.print("WiFi connecting to");
   while (wifiGetStatus() != WL_CONNECTED)
@@ -161,15 +162,16 @@ void wifiStartAP()
   }
   Serial.print("WiFi connected with IP: ");
   Serial.println(WiFi.localIP());
-#else   //LOCAL_WIFI_TESTING
+#else   //End LOCAL_WIFI_TESTING
   //Start in AP mode
-  WiFi.mode(WIFI_AP);
 
 #ifdef COMPILE_ESPNOW
   // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
-  esp_wifi_set_protocol(WIFI_IF_AP, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+  esp_wifi_set_protocol(WIFI_IF_AP, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi AP.
 #endif
 
+  WiFi.mode(WIFI_AP);
+
   IPAddress local_IP(192, 168, 4, 1);
   IPAddress gateway(192, 168, 1, 1);
   IPAddress subnet(255, 255, 255, 0);
@@ -182,7 +184,7 @@ void wifiStartAP()
   }
   Serial.print("WiFi AP Started with IP: ");
   Serial.println(WiFi.softAPIP());
-#endif  //LOCAL_WIFI_TESTING
+#endif  //End AP Testing
 }
 
 #endif  //COMPILE_WIFI
@@ -209,27 +211,23 @@ void wifiStart(char* ssid, char* pw)
 #ifdef COMPILE_WIFI
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
-      WiFi.mode(WIFI_STA);
+    wifiSetState(WIFI_NOTCONNECTED);
 
 #ifdef COMPILE_ESPNOW
     if (espnowState > ESPNOW_OFF)
-    {
-      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now
-    }
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now. Stops WiFi Station.
     else
-    {
-      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols
-    }
+      esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols. Stops WiFi Station.
 #else
     //Be sure the standard protocols are turned on. ESP Now have have previously turned them off.
-    WiFi.mode(WIFI_STA);
-    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N);
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols. Stops WiFi Station.
 #endif
 
+    WiFi.mode(WIFI_STA);
+
     Serial.printf("WiFi connecting to %s\r\n", ssid);
     WiFi.begin(ssid, pw);
     wifiTimer = millis();
-    wifiSetState(WIFI_NOTCONNECTED);
 
     //Display the heap state
     reportHeapNow();
@@ -254,26 +252,26 @@ void wifiStop()
   //If WiFi is on but ESP NOW is off, then turn off radio entirely
   else if (espnowState == ESPNOW_OFF)
   {
-    WiFi.mode(WIFI_OFF);
     wifiSetState(WIFI_OFF);
+    WiFi.mode(WIFI_OFF);
     Serial.println("WiFi Stopped");
   }
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
   {
-    WiFi.mode(WIFI_STA);
+    wifiSetState(WIFI_OFF);
 
     // Enable long range, PHY rate of ESP32 will be 512Kbps or 256Kbps
-    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR);
+    esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_LR); //Stops WiFi Station.
 
-    wifiSetState(WIFI_OFF);
+    WiFi.mode(WIFI_STA);
 
     Serial.println("WiFi disabled, ESP-Now left in place");
   }
 #else
   //Turn off radio
-  WiFi.mode(WIFI_OFF);
   wifiSetState(WIFI_OFF);
+  WiFi.mode(WIFI_OFF);
   Serial.println("WiFi Stopped");
 #endif
 

From 0b9a7f18075fee455d8a064a9ae9f90dee2bf438 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 13:16:14 -0600
Subject: [PATCH 114/134] Logging: unique semaphore wait, reduce loop delay,
 add taskYIELD

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 3 ++-
 Firmware/RTK_Surveyor/Tasks.ino        | 5 +++--
 Firmware/RTK_Surveyor/menuMessages.ino | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 204737da0..7ab17c88c 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -125,7 +125,8 @@ int startCurrentLogTime_minutes = 0; //Mark when we start this specific log file
 //System crashes if two tasks access a file at the same time
 //So we use a semaphore to see if file system is available
 SemaphoreHandle_t sdCardSemaphore;
-TickType_t fatSemaphore_shortWait_ms = 50 / portTICK_PERIOD_MS;
+TickType_t loggingSemaphore_shortWait_ms = 10 / portTICK_PERIOD_MS;
+const TickType_t fatSemaphore_shortWait_ms = 10 / portTICK_PERIOD_MS;
 const TickType_t fatSemaphore_longWait_ms = 200 / portTICK_PERIOD_MS;
 
 //Display used/free space in menu and config page
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 332a5e08b..e25d4bd5b 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -203,7 +203,7 @@ void F9PSerialReadTask(void *e)
         {
           //Attempt to gain access to the SD card, avoids collisions with file
           //writing from other functions like recordSystemSettingsToFile()
-          if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) == pdPASS)
+          if (xSemaphoreTake(sdCardSemaphore, loggingSemaphore_shortWait_ms) == pdPASS)
           {
             //Reduce bytes to send if we have more to send then the end of the buffer
             //We'll wrap next loop
@@ -240,7 +240,8 @@ void F9PSerialReadTask(void *e)
     //Let other tasks run, prevent watch dog timer (WDT) resets
     //----------------------------------------------------------------------
 
-    delay(10);
+    delay(1);
+    taskYIELD();
   }
 }
 
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index 9b75fac7f..3f95c07c9 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -819,7 +819,7 @@ void updateLogTest()
   {
     setLogTestFrequencyMessages(rate, messages); //Set messages and rate for both UART1 and USB ports
 
-    fatSemaphore_shortWait_ms = semaphoreWait / portTICK_PERIOD_MS; //Update variable
+    loggingSemaphore_shortWait_ms = semaphoreWait / portTICK_PERIOD_MS; //Update variable
 
     startCurrentLogTime_minutes = millis() / 1000L / 60; //Mark now as start of logging
 

From 6ad96eea4d38a5e197887b97db75efee9592bcff Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 13:38:10 -0600
Subject: [PATCH 115/134] Stop ESP-Now before turning stopping WiFi

---
 Firmware/RTK_Surveyor/ESPNOW.ino | 35 +++++++++++++++++---------------
 1 file changed, 19 insertions(+), 16 deletions(-)

diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index cbe4fb7db..e0ee88cbd 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -165,6 +165,21 @@ void espnowStop()
 #ifdef COMPILE_ESPNOW
   if (espnowState == ESPNOW_OFF) return;
 
+  // Turn off promiscuous WiFi mode
+  esp_wifi_set_promiscuous(false);
+  esp_wifi_set_promiscuous_rx_cb(NULL);
+
+  // Deregister callbacks
+  //esp_now_unregister_send_cb();
+  esp_now_unregister_recv_cb();
+
+  // Deinit ESP-NOW
+  if (esp_now_deinit() != ESP_OK) {
+    Serial.println("Error deinitializing ESP-NOW");
+    return;
+  }
+#endif
+
   if (wifiState == WIFI_OFF)
   {
     //ESP Now is the only thing using the radio, turn it off entirely
@@ -175,7 +190,9 @@ void espnowStop()
   //If WiFi is on, then disable LR protocol
   else if (wifiState > WIFI_OFF)
   {
-    wifiSetState(WIFI_NOT_CONNECTED);
+#ifdef COMPILE_WIFI
+    wifiSetState(WIFI_NOTCONNECTED);
+#endif
 
     // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi Station.
@@ -184,21 +201,7 @@ void espnowStop()
     
     log_d("WiFi protocols on, LR protocol off");
   }
-
-  // Turn off promiscuous WiFi mode
-  esp_wifi_set_promiscuous(false);
-  esp_wifi_set_promiscuous_rx_cb(NULL);
-
-  // Deregister callbacks
-  //esp_now_unregister_send_cb();
-  esp_now_unregister_recv_cb();
-
-  // Deinit ESP-NOW
-  if (esp_now_deinit() != ESP_OK) {
-    Serial.println("Error deinitializing ESP-NOW");
-    return;
-  }
-#endif
+    
   espnowSetState(ESPNOW_OFF);
 }
 

From 31689e4c3ebca077bcd4cb29f427d4b33c9080b9 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 14:09:47 -0600
Subject: [PATCH 116/134] Set messages during Base start

The GSV message needs to be updated to 1Hz. Also added is all other messages get set to the setting values in case user is logging during base mode.
---
 Firmware/RTK_Surveyor/Base.ino         | 42 ++++++++++++--------------
 Firmware/RTK_Surveyor/ESPNOW.ino       |  9 +++---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino |  2 +-
 3 files changed, 25 insertions(+), 28 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Base.ino b/Firmware/RTK_Surveyor/Base.ino
index 750e930b8..73d65eb30 100644
--- a/Firmware/RTK_Surveyor/Base.ino
+++ b/Firmware/RTK_Surveyor/Base.ino
@@ -18,31 +18,23 @@ bool configureUbloxModuleBase()
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
-  //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
-  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
-    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
-  //    response &= i2cGNSS.setNavigationFrequency(4, maxWait);
+  const int baseNavigationFrequency = 1;
+
+  //In Base mode we force 1Hz
+  if (i2cGNSS.getNavigationFrequency(maxWait) != baseNavigationFrequency)
+    response &= i2cGNSS.setNavigationFrequency(baseNavigationFrequency, maxWait);
   if (response == false)
-    Serial.println("Set rate failed");
+    Serial.println("setNavigationFrequency failed");
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
-  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover Client mode
-  i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message
+  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover NTRIP Client mode
+  i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message that may have been set during Rover NTRIP Client mode
 
   response = i2cGNSS.setSurveyMode(0, 0, 0); //Disable Survey-In or Fixed Mode
   if (response == false)
     Serial.println("Disable TMODE3 failed");
 
-  //In base mode we force 1Hz
-  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
-    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
-  if (response == false)
-  {
-    Serial.println("configureUbloxModuleBase: Set rate failed");
-    return (false);
-  }
-
   // Set dynamic model
   if (i2cGNSS.getDynamicModel(maxWait) != DYN_MODEL_STATIONARY)
   {
@@ -61,17 +53,23 @@ bool configureUbloxModuleBase()
   getPortSettings(COM_PORT_I2C); //Load the settingPayload with this port's settings
   if (settingPayload[OUTPUT_SETTING] != (COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3))
     response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); //Set the I2C port to output UBX (config), and RTCM3 (casting)
-  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+NMEA+RTCM3 -
+  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+NMEA+RTCM3
 
-  //In base mode the Surveyor should output RTCM over UART2 and I2C ports:
+  //In base mode the Surveyor should output RTCM over all ports:
   //(Primary) UART2 in case the Surveyor is connected via radio to rover
-  //(Optional) I2C in case user wants base to connect to WiFi and NTRIP Serve to Caster
-  //(Seconday) USB in case the Surveyor is used as an NTRIP caster
-  //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP caster
+  //(Optional) I2C in case user wants base to connect to WiFi and NTRIP Caster
+  //(Seconday) USB in case the Surveyor is used as an NTRIP caster connected to SBC or other
+  //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP Caster
   response &= enableRTCMSentences(COM_PORT_UART2);
   response &= enableRTCMSentences(COM_PORT_UART1);
   response &= enableRTCMSentences(COM_PORT_USB);
-  response &= enableRTCMSentences(COM_PORT_I2C); //Enable for plain radio so we can count RTCM packets for display (State: Base-Temp - Transmitting)
+  response &= enableRTCMSentences(COM_PORT_I2C); //Enable for plain radio so we can count RTCM packets for display
+
+  //If enabled, adjust GSV NMEA to be reported at 1Hz
+  if (settings.ubxMessages[8].msgRate > baseNavigationFrequency)
+    setMessageRateByName("UBX_NMEA_GSV", baseNavigationFrequency); //Update GSV setting in file
+  
+  response &= configureGNSSMessageRates(COM_PORT_UART1, settings.ubxMessages); //In the interest of logging, make sure the appropriate messages are enabled
 
   if (response == false)
   {
diff --git a/Firmware/RTK_Surveyor/ESPNOW.ino b/Firmware/RTK_Surveyor/ESPNOW.ino
index e0ee88cbd..da6689f14 100644
--- a/Firmware/RTK_Surveyor/ESPNOW.ino
+++ b/Firmware/RTK_Surveyor/ESPNOW.ino
@@ -178,7 +178,6 @@ void espnowStop()
     Serial.println("Error deinitializing ESP-NOW");
     return;
   }
-#endif
 
   if (wifiState == WIFI_OFF)
   {
@@ -190,18 +189,18 @@ void espnowStop()
   //If WiFi is on, then disable LR protocol
   else if (wifiState > WIFI_OFF)
   {
-#ifdef COMPILE_WIFI
     wifiSetState(WIFI_NOTCONNECTED);
-#endif
 
     // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi Station.
 
     WiFi.mode(WIFI_STA);
-    
+
     log_d("WiFi protocols on, LR protocol off");
   }
-    
+
+#endif
+
   espnowSetState(ESPNOW_OFF);
 }
 
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 7ab17c88c..12b88402f 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -554,7 +554,7 @@ void setup()
 
   loadSettings(); //Attempt to load settings after SD is started so we can read the settings file if available
 
-  //beginIdleTasks(); //Enable processor load calculations
+  beginIdleTasks(); //Enable processor load calculations
 
   beginUART2(); //Start UART2 on core 0, used to receive serial from ZED and pass out over SPP
 

From 2ebf3d36f8a993f56d481d048781f84984b3ede6 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 14:33:58 -0600
Subject: [PATCH 117/134] Remove ntripClientSwitchToBluetooth

---
 Firmware/RTK_Surveyor/NtripClient.ino | 22 ++++++----------------
 1 file changed, 6 insertions(+), 16 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index 07f120d28..c488b6ae9 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -156,7 +156,9 @@ bool ntripClientConnectLimitReached()
   {
     //No more connection attempts, switching to Bluetooth
     Serial.println("NTRIP Client connection attempts exceeded!");
-    ntripClientSwitchToBluetooth();
+
+    //Stop WiFi operations
+    ntripClientStop(true);
   }
   return limitReached;
 }
@@ -183,18 +185,6 @@ void ntripClientResponse(char * response, size_t maxLength)
   *response = '\0';
 }
 
-//Switch to Bluetooth operation
-void ntripClientSwitchToBluetooth()
-{
-  Serial.println("NTRIP Client failure, switching to Bluetooth!");
-
-  //Stop WiFi operations
-  ntripClientStop(true);
-
-  //Turn on Bluetooth with 'Rover' name
-  bluetoothStart();
-}
-
 //Update the state of the NTRIP client state machine
 void ntripClientSetState(byte newState)
 {
@@ -391,8 +381,8 @@ void ntripClientUpdate()
           //Look for '401 Unauthorized'
           Serial.printf("NTRIP Client caster responded with bad news: %s. Are you sure your caster credentials are correct?\n\r", response);
 
-          //Switch to Bluetooth operation
-          ntripClientSwitchToBluetooth();
+          //Stop WiFi operations
+          ntripClientStop(true);
         }
         else
         {
@@ -460,7 +450,7 @@ void ntripClientUpdate()
           i2cGNSS.pushRawData(rtcmData, rtcmCount);
           wifiIncomingRTCM = true;
 
-          if(!inMainMenu) log_d("NTRIP Client received %d RTCM bytes, pushed to ZED", rtcmCount);
+          if (!inMainMenu) log_d("NTRIP Client received %d RTCM bytes, pushed to ZED", rtcmCount);
         }
       }
 

From f48622314e7f6dbefc65d05335cea7c5ec281104 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Wed, 24 Aug 2022 16:36:46 -0600
Subject: [PATCH 118/134] Add connection throttling to NTRIP Server

Emlid and other casters do not allow immediate re-connect that is often seen when the connection is lost, or a user makes a setting modification (where WiFi is closed/reconnected). This adds a 5s delay between the first re-attempt at WiFi or NTRIP Caster connection and increases += 5 minutes every failed delay after that.
---
 Firmware/RTK_Surveyor/Form.ino        |  2 +-
 Firmware/RTK_Surveyor/NtripServer.ino | 68 ++++++++++++++++++---------
 2 files changed, 47 insertions(+), 23 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index b34780989..4f6b77642 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -30,7 +30,7 @@ void startWebServer()
     Serial.println(sdUsedSpaceMB);
   }
 
-  ntripClientStop(true);
+  ntripClientStop(true); //Do not allocate new wifiClient
   wifiStartAP();
 
   incomingSettings = (char*)malloc(AP_CONFIG_SETTING_SIZE);
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 1fff20ded..278959f88 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -53,7 +53,9 @@
 #ifdef  COMPILE_WIFI
 
 //Give up connecting after this number of attempts
-static const int MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS = 3;
+//Connection attempts are throttled to increase the time between attempts
+//30 attempts with 5 minute increases will take over 38 hours
+static const int MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS = 30;
 
 //----------------------------------------
 // Locals - compiled out
@@ -68,6 +70,10 @@ uint32_t ntripServerBytesSent = 0;
 //Count the number of connection attempts
 static int ntripServerConnectionAttempts;
 
+//Throttle the time between connection attempts
+static int ntripServerConnectionAttemptTimeout = 0;
+static uint32_t ntripServerLastConnectionAttempt = 0;
+
 //Last time the NTRIP server state was displayed
 static uint32_t ntripServerStateLastDisplayed = 0;
 
@@ -77,11 +83,6 @@ static uint32_t ntripServerStateLastDisplayed = 0;
 //  * Monitor last RTCM byte received for frame counting
 static uint32_t ntripServerTimer;
 
-//Record last connection attempt
-//After 6 hours, reset the connectionAttempts to enable
-//multi week/month base installations
-static uint32_t lastConnectionAttempt = 0;
-
 //----------------------------------------
 // NTRIP Server Routines - compiled out
 //----------------------------------------
@@ -128,9 +129,14 @@ bool ntripServerConnectLimitReached()
   bool limitReached = false;
   if (ntripServerConnectionAttempts++ >= MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS) limitReached = true;
 
-  if (!limitReached)
-    //Display the heap state
+  if (limitReached == false)
+  {
+    ntripServerConnectionAttemptTimeout = ntripServerConnectionAttempts * 5 * 60 * 1000L; //Wait 5, 10, 15, etc minutes between attempts
+
+    log_d("ntripServerConnectionAttemptTimeout increased to %d minutes", ntripServerConnectionAttemptTimeout / (60 * 1000L));
+
     reportHeapNow();
+  }
   else
   {
     //No more connection attempts
@@ -299,10 +305,16 @@ void ntripServerStop(bool wifiClientAllocated)
 
   //Stop WiFi if in use
   if (ntripServerState > NTRIP_SERVER_ON)
+  {
     wifiStop();
 
+    ntripServerLastConnectionAttempt = millis(); //Mark the Server stop so that we don't immediately attempt re-connect to Caster
+    ntripServerConnectionAttemptTimeout = 5 * 1000L; //Wait 5s between stopping and the first re-connection attempt
+  }
+
   //Determine the next NTRIP server state
   ntripServerSetState((ntripServer && (wifiClientAllocated == false)) ? NTRIP_SERVER_ON : NTRIP_SERVER_OFF);
+
   online.ntripServer = false;
 #endif  //COMPILE_WIFI
 }
@@ -330,8 +342,24 @@ void ntripServerUpdate()
 
     //Start WiFi
     case NTRIP_SERVER_ON:
-      wifiStart(settings.ntripServer_wifiSSID, settings.ntripServer_wifiPW);
-      ntripServerSetState(NTRIP_SERVER_WIFI_CONNECTING);
+      //Pause until connection timeout has passed
+      if (millis() - ntripServerLastConnectionAttempt > ntripServerConnectionAttemptTimeout)
+      {
+        ntripServerLastConnectionAttempt = millis();
+        wifiStart(settings.ntripServer_wifiSSID, settings.ntripServer_wifiPW);
+        ntripServerSetState(NTRIP_SERVER_WIFI_CONNECTING);
+      }
+      else
+      {
+        if (millis() - startTime > 1000)
+        {
+          startTime = millis();
+          log_d("NTRIP Server connection timeout wait: %d of %d \n\r",
+                        (millis() - ntripServerLastConnectionAttempt) / 1000,
+                        ntripServerConnectionAttemptTimeout / 1000
+                       );
+        }
+      }
       break;
 
     //Wait for connection to an access point
@@ -343,6 +371,8 @@ void ntripServerUpdate()
           //Assume AP weak signal, the AP is unable to respond successfully
           if (ntripServerConnectLimitReached())
           {
+            Serial.println("NTRIP Server failed to get WiFi. Are your WiFi credentials correct?");
+
             //Display the WiFi failure
             paintNtripWiFiFail(4000, false);
           }
@@ -354,7 +384,7 @@ void ntripServerUpdate()
         ntripServerSetState(NTRIP_SERVER_WIFI_CONNECTED);
 
         // Start the SD card server
-        //        sdCardServerBegin(&server, true, true);
+        // sdCardServerBegin(&server, true, true);
       }
       break;
 
@@ -382,11 +412,11 @@ void ntripServerUpdate()
       {
         log_d("NTRIP Server caster failed to connect. Trying again.");
 
-        lastConnectionAttempt = millis();
-
         //Assume service not available
         if (ntripServerConnectLimitReached())
+        {
           Serial.println("NTRIP Server failed to connect! Do you have your caster address and port correct?");
+        }
       }
       else
       {
@@ -406,7 +436,9 @@ void ntripServerUpdate()
         {
           //NTRIP web service did not respone
           if (ntripServerConnectLimitReached())
+          {
             Serial.println("Caster failed to respond. Do you have your caster address and port correct?");
+          }
         }
       }
       else
@@ -421,7 +453,7 @@ void ntripServerUpdate()
           //Look for '401 Unauthorized'
           Serial.printf("NTRIP Server caster responded with bad news: %s. Are you sure your caster credentials are correct?\n\r", response);
 
-          ntripServerStop(true);  //Don't allocate new wifiClient
+          ntripServerStop(true); //Don't allocate new wifiClient
         }
         else
         {
@@ -460,14 +492,6 @@ void ntripServerUpdate()
       {
         //All is well
         cyclePositionLEDs();
-
-        //There may be intermintant disconnects over days or weeks
-        //Reset the reconnect attempts every 6 hours
-        if (ntripServerConnectionAttempts > 0 && (millis() - lastConnectionAttempt) > (1000L * 60 * 60 * 6))
-        {
-          ntripServerConnectionAttempts = 0;
-          log_d("Resetting connection attempts");
-        }
       }
 
       break;

From 7c659d9dde7137914b1744cc2edfea06b3a7ac41 Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Wed, 24 Aug 2022 09:47:18 -1000
Subject: [PATCH 119/134] Add RTK support programs

Compare - Program to locate a common NMEA timestamp message in two log
files and create two new files (a.txt and b.txt) containing all of the
data following the beginning of the common timestamp message.  This
makes comparing two log files much easier since they have a common
starting point.
Example:  ./Compare  20220819_0747_usb.txt  20220819_0747_uart.txt

NMEA_Client - NMEA client program to connect to the RTK NMEA TCP server.
Example:  ./NMEA_Client  192.168.86.225

Split_Messages - Program to verify the checksums and CRCs and count the
various messages in a log file.
Example:  ./Split_Messages  20220819_0747_usb.txt
---
 C/Compare.c        | 1480 ++++++++++++++++++++++++++++++++++++++++++++
 C/NMEA_Client.c    |   81 +++
 C/Split_Messages.c | 1273 +++++++++++++++++++++++++++++++++++++
 C/crc24q.c         |  185 ++++++
 C/crc24q.h         |   20 +
 C/makefile         |   46 ++
 6 files changed, 3085 insertions(+)
 create mode 100644 C/Compare.c
 create mode 100644 C/NMEA_Client.c
 create mode 100644 C/Split_Messages.c
 create mode 100644 C/crc24q.c
 create mode 100644 C/crc24q.h
 create mode 100644 C/makefile

diff --git a/C/Compare.c b/C/Compare.c
new file mode 100644
index 000000000..fc597fe9a
--- /dev/null
+++ b/C/Compare.c
@@ -0,0 +1,1480 @@
+// Compare.c
+
+#include <ctype.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "crc24q.h"
+#include "crc24q.c"
+//#include "Crc24q.h"
+
+#define COMPUTE_CRC24Q(parse, data)  (((parse)->crc << 8) ^ crc24q[data ^ (((parse)->crc >> 16) & 0xff)])
+
+#define DISPLAY_BAD_CHARACTERS          0
+#define DISPLAY_BAD_CHARACTER_OFFSETS   1
+#define DISPLAY_RTCM_MESSAGE_LIST       1
+#define DISPLAY_UBX_MESSAGE_LIST        1
+#define DISPLAY_BOUNDARY                0
+#define DISPLAY_DATA_BYTES              0
+#define DISPLAY_LIST                    0
+#define DISPLAY_MESSAGE_TYPE            0
+#define DISPLAY_MESSAGE_TYPE_LIST       1
+#define DISPLAY_NMEA_MESSAGES           1
+#define DISPLAY_STRINGS                 0
+
+#define MESSAGE_LENGTH(length)          (3 + length + 3)
+
+#define BINARY_MESSAGE_START            0xd3
+
+#define MAX_BAD_CHARACTERS              1000
+
+uint32_t bad_characters[256>>5];
+uint32_t bad_character_count[256];
+uint32_t bad_character_offset[MAX_BAD_CHARACTERS];
+uint32_t bad_character_length[MAX_BAD_CHARACTERS];
+int32_t bad_character_offset_count = -1;
+
+char buffer[65536];
+char string[256];
+uint8_t * file_data;
+uint32_t rtcm_messages[4096 >> 5];
+uint32_t rtcm_message_count[4096];
+uint32_t rtcm_max_message_length[4096];
+uint32_t ubx_messages[65536 >> 5];
+uint32_t ubx_message_count[65536];
+uint32_t ubx_max_message_length[65536];
+int bad_checksum_header;
+int nmea_checksum_errors;
+int rtcm_crc_errors;
+int ubx_checksum_errors;
+
+typedef struct _NMEA_MESSAGE {
+    struct _NMEA_MESSAGE * next;
+    uint8_t * message;
+    uint32_t count;
+    uint32_t max_length;
+} NMEA_MESSAGE;
+
+NMEA_MESSAGE * nmea_list;
+
+enum SentenceTypes
+{
+SENTENCE_TYPE_NONE = 0,
+SENTENCE_TYPE_NMEA,
+SENTENCE_TYPE_UBX,
+SENTENCE_TYPE_RTCM
+} currentSentence = SENTENCE_TYPE_NONE;
+
+typedef struct _PARSE_STATE * P_PARSE_STATE;
+
+//Parse routine
+typedef uint8_t (* PARSE_ROUTINE)(P_PARSE_STATE parse,  //Parser state
+                                  uint8_t data);        //Incoming data byte
+
+//End of message callback routine
+typedef void (* EOM_CALLBACK)(P_PARSE_STATE parse,      //Parser state
+                                 uint8_t type);         //Message type
+
+#define PARSE_BUFFER_LENGTH       0x10000
+
+typedef struct _PARSE_STATE
+{
+  PARSE_ROUTINE state;            //Parser state routine
+  EOM_CALLBACK eomCallback;       //End of message callback routine
+  const char * parserName;        //Name of parser
+  uint32_t crc;                   //RTCM computed CRC
+  uint32_t rtcmCrc;               //Computed CRC value for the RTCM message
+  uint32_t invalidRtcmCrcs;       //Number of bad RTCM CRCs detected
+  uint16_t bytesRemaining;        //Bytes remaining in RTCM CRC calculation
+  uint16_t length;                //Message length including line termination
+  uint16_t maxLength;             //Maximum message length including line termination
+  uint16_t message;               //RTCM message number
+  uint16_t nmeaLength;            //Length of the NMEA message without line termination
+  uint8_t buffer[PARSE_BUFFER_LENGTH];  //Buffer containing the message
+  uint8_t nmeaMessageName[16];    //Message name
+  uint8_t nmeaMessageNameLength;  //Length of the message name
+  uint8_t ck_a;                   //U-blox checksum byte 1
+  uint8_t ck_b;                   //U-blox checksum byte 2
+  bool computeCrc;                //Compute the CRC when true
+} PARSE_STATE;
+
+//Forward declaration
+uint8_t waitForPreamble(PARSE_STATE * parse, uint8_t data);
+uint64_t offset;
+uint64_t file_offset;
+
+void
+dump_message (
+    unsigned char * data
+    )
+{
+    unsigned int actual;
+    unsigned int crc;
+    int index;
+    int length;
+    int offset;
+
+    //
+    //    +----------+--------+----------------+---------+----------+---------+
+    //    | Preamble |  Fill  | Message Length | Message |   Fill   | CRC-24Q |
+    //    |  8 bits  | 6 bits |    10 bits     |  n-bits | 0-7 bits | 24 bits |
+    //    |   0xd3   | 000000 |                |         |   zeros  |         |
+    //    +----------+--------+----------------+---------+----------+---------+
+    //
+
+    // Get the number of bytes
+    length = (data[1] << 8) | data[2];
+    if (DISPLAY_DATA_BYTES) {
+        // Dump the message
+        offset = data - file_data;
+        printf ("0x%08x: %02x %02x %02x\n", offset, data[0], data[1], data[2]);
+        offset += 3;
+        index = 0;
+        if (length > 0) {
+            do
+            {
+                // Display the offset at the beginning of the line
+                if (!(index & 0xf))
+                    printf ("0x%08x: ", offset);
+
+                // Display the data bytes
+                printf ("%02x ", data[index+3]);
+                offset += 1;
+
+                // Terminate the lines
+                if (!(++index % (DISPLAY_DATA_BYTES ? DISPLAY_DATA_BYTES : 1)))
+                    printf ("\n");
+            } while (index < length);
+
+            // Terminate a short line
+            if (index % (DISPLAY_DATA_BYTES ? DISPLAY_DATA_BYTES : 1))
+                printf ("\n");
+        }
+
+        // Display the Cyclic Redundancy Check (CRC)
+        printf ("0x%08x: %02x %02x %02x CRC: %s\n",
+                offset, data[3 + index], data[3 + index + 1], data[3 + index + 2],
+                crc24q_check (data, MESSAGE_LENGTH(length)) ? "Matches" : "Does not match!");
+    } else {
+        if (!crc24q_check (data, MESSAGE_LENGTH(length))) {
+            if (!bad_checksum_header) {
+                bad_checksum_header = 1;
+                printf ("Bad checksums:\n");
+            }
+            length = MESSAGE_LENGTH(length);
+            crc = crc24q_hash(data, length - 3);
+            actual = (data[length - 3] << 16) | (data[length - 2] << 8) | data[length - 1];
+            printf ("    0x%08lx: Binary message, expected CRC: 0x%06x, actual CRC: 0x%06x\n",
+                    data - file_data, crc, actual);
+            rtcm_crc_errors += 1;
+        }
+    }
+}
+
+void
+display_string (
+    unsigned char * string,
+    int length
+    )
+{
+    char * temp;
+    char * temp_end;
+
+    // Copy the strings into the buffer
+    memcpy (buffer, string, length);
+    buffer[length] = 0;
+
+    // Terminate the strings
+    temp = buffer;
+    temp_end = &temp[length];
+    do {
+        if ((*temp == '\r') || (*temp == '\n'))
+            *temp = 0;
+    } while (++temp < temp_end);
+
+    // Display the strings
+    temp = buffer;
+    while (temp < temp_end) {
+        if (*temp)
+            printf ("%s\n", temp);
+        temp += strlen(temp) + 1;
+    }
+}
+
+unsigned char *
+process_nmea_message (
+    unsigned char * data,
+    unsigned char * data_end
+    )
+{
+    unsigned char checksum;
+    char checksum_char[2];
+    NMEA_MESSAGE * message;
+    NMEA_MESSAGE * previous;
+    unsigned char * start;
+
+    // Check for the beginning of a NMEA message ($)
+    if (*data != '$') {
+        if ((*data != '\r') && (*data != '\n')) {
+            bad_character_count[*data] += 1;
+            bad_characters[*data >> 5] |= 1 << (*data & 0x1f);
+            if ((bad_character_offset_count < 0)
+                || ((bad_character_offset[bad_character_offset_count] + bad_character_length[bad_character_offset_count]) != (data - file_data))) {
+                bad_character_offset_count += 1;
+                bad_character_offset[bad_character_offset_count] = data - file_data;
+            }
+            bad_character_length[bad_character_offset_count] += 1;
+        }
+        return data + 1;
+    }
+
+    // Skip over the dollar sign ($)
+    start = data++;
+
+    // Scan for comma or end of message
+    checksum = 0;
+    while ((*data != ',') && (*data != '\r') && (*data != '\n')
+        && (*data != BINARY_MESSAGE_START))
+        checksum ^= *data++;
+
+    // Return if this is the start of a binary message
+    if (*data == BINARY_MESSAGE_START)
+        return data;
+
+    // Remember the message if a comma was found
+    if (*data == ',') {
+        if (DISPLAY_LIST)
+            printf ("----------------------\r\n");
+
+        // Build the zero terminated string
+        memset (string, 0, sizeof(string));
+        strncpy (string, (char *)start, data - start);
+
+        /*
+            list --> NULL
+
+            previous = NULL
+            string: $GNGST --.
+                             V
+                     +------------+
+            list --> | $GNGST (1) | --> NULL
+                     +------------+
+
+            previous = $GNGST
+            string: $GNGGA --.
+                             V
+                     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+
+
+            previous = $GNGSA
+            string: $GNGSA --------------------.
+                                               V
+                     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (1) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+     +------------+
+
+            previous = $GNGSA
+            string: $GNGSA --------------------.
+                                               V
+                     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (2) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+     +------------+
+
+            previous = $GNGST
+            string: $GNRMC ---------------------------------------------------------.
+                                                                                    V
+                     +------------+     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (2) | --> | $GNGST (1) | --> | $GNRMC (1) | --> NULL
+                     +------------+     +------------+     +------------+     +------------+
+
+         */
+
+        // Display the list
+        if (DISPLAY_LIST) {
+            printf ("list: ");
+            for (previous = nmea_list; previous; previous = previous->next)
+                printf ("%s(%d)-->", previous->message, previous->count);
+            printf ("NULL\n");
+        }
+
+        // Find the location for insertion
+        // Check for something in the list
+        previous = NULL;
+        if (nmea_list) {
+            if (strcmp((char *)nmea_list->message, string) <= 0) {
+                previous = nmea_list;
+                while (previous->next && (strcmp((char *)previous->next->message, string) <= 0))
+                    previous = previous->next;
+            }
+        }
+
+        // Display the insertion decision
+        if (DISPLAY_LIST) {
+            printf ("previous: %s\n", ((previous != NULL) ? (char *)previous->message : (char *)"NULL"));
+            printf ("string: %s\n", string);
+        }
+
+        // Check for a duplicate message
+        if (previous && (strcmp ((char *)previous->message, string) == 0)) {
+            if (DISPLAY_LIST)
+                printf ("Duplicate found: %d\n", previous->count);
+            previous->count += 1;
+            message = previous;
+        } else {
+            // Add the new message
+            message = malloc (sizeof(NMEA_MESSAGE) + strlen(string) + 1);
+            message->message = (uint8_t *)(message + 1);
+            strcpy((char *)message->message, string);
+            message->count = 1;
+
+            // Message insertion position
+            //      previous == NULL; ==> list head
+            //      previous != NULL; ==> middle or end of list
+            if (!previous) {
+                if (DISPLAY_LIST)
+                    printf ("Add to head of the list\n");
+
+                // Add this message at the start of the list
+                message->next = nmea_list;
+                nmea_list = message;
+            } else {
+                if (DISPLAY_LIST)
+                    printf ("Add to middle of the list\n");
+
+                // Insert this message into the middle of the list
+                message->next = previous->next;
+                previous->next = message;
+            }
+        }
+
+        // Display the new list
+        if (DISPLAY_LIST) {
+            printf ("New list: ");
+            for (previous = nmea_list; previous; previous = previous->next)
+                printf ("%s(%d)-->", previous->message, previous->count);
+            printf ("NULL\n");
+        }
+    }
+
+    // Scan for asterisk or end of message
+    while ((*data != '*') && (*data != '\r') && (*data != '\n')
+        && (*data != BINARY_MESSAGE_START))
+        checksum ^= *data++;
+
+    // Check for end of NMEA message, validate the checksum
+    if (*data == '*') {
+        checksum_char[0] = ((checksum >> 4) & 0xf) + '0';
+        if (checksum_char[0] > '9')
+            checksum_char[0] += 'A' - '0' - 10;
+        checksum_char[1] = (checksum & 0xf) + '0';
+        if (checksum_char[1] > '9')
+            checksum_char[1] += 'A' - '0' - 10;
+        if ((toupper(data[1]) != checksum_char[0]) || (toupper(data[2]) != checksum_char[1])) {
+            if (!bad_checksum_header) {
+                bad_checksum_header = 1;
+                printf ("Bad checksums:\n");
+            }
+            printf ("    0x%08lx: NMEA %s, expected CRC: 0x%02x, actual CRC: 0x%c%c\n",
+                    data - file_data, &string[1], checksum, data[1], data[2]);
+            nmea_checksum_errors += 1;
+        }
+        data += 3;
+    }
+
+    // Scan for end of message
+    while ((*data != '\r') && (*data != '\n') && (*data != BINARY_MESSAGE_START))
+        data++;
+
+    return data;
+}
+
+uint8_t *
+find_gnss_header (
+    uint8_t * data,
+    uint8_t * data_end
+    )
+{
+    int length;
+
+    do {
+        //  From RTCM 10403.2 Section 4
+        //
+        //    +----------+--------+----------------+---------+----------+---------+
+        //    | Preamble |  Fill  | Message Length | Message |   Fill   | CRC-24Q |
+        //    |  8 bits  | 6 bits |    10 bits     |  n-bits | 0-7 bits | 24 bits |
+        //    |   0xd3   | 000000 |                |         |   zeros  |         |
+        //    +----------+--------+----------------+---------+----------+---------+
+        //
+
+        // Locate the beginning of the message
+        while ((data < data_end) && (*data != BINARY_MESSAGE_START))
+            data = process_nmea_message (data, data_end);
+
+        // Check for end of data
+        if (data >= data_end)
+            break;
+
+        // Get the number of bytes
+        length = (data[1] << 8) | data[2];
+        if ((data + MESSAGE_LENGTH(length)) <= data_end) {
+
+            // Verify the CRC
+            if (crc24q_check (data, MESSAGE_LENGTH(length)))
+                break;
+        }
+
+        // Skip this preamble byte
+        data++;
+    } while (data < data_end);
+
+    // Return the address of the next preamble byte or end of data
+    return data;
+}
+
+void processNemaMessage(PARSE_STATE * parse)
+{
+    NMEA_MESSAGE * message;
+    NMEA_MESSAGE * previous;
+
+    //Display the NMEA message
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s NMEA %s, %d bytes\r\n", parse->parserName, parse->nmeaMessageName, parse->length);
+
+    // Display the list
+    if (DISPLAY_LIST) {
+        printf ("list: ");
+        for (previous = nmea_list; previous; previous = previous->next)
+            printf ("%s(%d)-->", previous->message, previous->count);
+        printf ("NULL\n");
+    }
+
+    // Find the location for insertion
+    // Check for something in the list
+    previous = NULL;
+    if (nmea_list) {
+        if (strcmp((char *)nmea_list->message, (char *)parse->nmeaMessageName) <= 0) {
+            previous = nmea_list;
+            while (previous->next && (strcmp((char *)previous->next->message, (char *)parse->nmeaMessageName) <= 0))
+                previous = previous->next;
+        }
+    }
+
+    // Display the insertion decision
+    if (DISPLAY_LIST) {
+        printf ("previous: %s\n", ((previous != NULL) ? (char *)previous->message : (char *)"NULL"));
+        printf ("string: %s\n", parse->nmeaMessageName);
+    }
+
+    // Check for a duplicate message
+    if (previous && (strcmp ((char *)previous->message, (char *)parse->nmeaMessageName) == 0)) {
+        if (DISPLAY_LIST)
+            printf ("Duplicate found: %d\n", previous->count);
+        previous->count += 1;
+        message = previous;
+        if (message->max_length < parse->length)
+            message->max_length = parse->length;
+    } else {
+        // Add the new message
+        message = malloc (sizeof(NMEA_MESSAGE) + strlen((char *)parse->nmeaMessageName) + 1);
+        message->message = (uint8_t *)(message + 1);
+        strcpy((char *)message->message, (char *)parse->nmeaMessageName);
+        message->count = 1;
+        message->max_length = parse->length;
+
+        // Message insertion position
+        //      previous == NULL; ==> list head
+        //      previous != NULL; ==> middle or end of list
+        if (!previous) {
+            if (DISPLAY_LIST)
+                printf ("Add to head of the list\n");
+
+            // Add this message at the start of the list
+            message->next = nmea_list;
+            nmea_list = message;
+        } else {
+            if (DISPLAY_LIST)
+                printf ("Add to middle of the list\n");
+
+            // Insert this message into the middle of the list
+            message->next = previous->next;
+            previous->next = message;
+        }
+    }
+
+    // Display the new list
+    if (DISPLAY_LIST) {
+        printf ("New list: ");
+        for (previous = nmea_list; previous; previous = previous->next)
+            printf ("%s(%d)-->", previous->message, previous->count);
+        printf ("NULL\n");
+    }
+}
+
+void processRtcmMessage(PARSE_STATE * parse)
+{
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s RTCM %d, %d bytes\r\n", parse->parserName, parse->message, parse->length);
+    rtcm_messages[parse->message >> 5] |= 1 << (parse->message & 0x1f);
+    rtcm_message_count[parse->message] += 1;
+    if (rtcm_max_message_length[parse->message] < parse->length)
+        rtcm_max_message_length[parse->message] = parse->length;
+}
+
+void processUbxMessage(PARSE_STATE * parse)
+{
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s UBX %d.%d, %d bytes\r\n", parse->parserName, parse->message >> 8, parse->message & 0xff, parse->length);
+    ubx_messages[parse->message >> 5] |= 1 << (parse->message & 0x1f);
+    ubx_message_count[parse->message] += 1;
+    if (ubx_max_message_length[parse->message] < parse->length)
+      ubx_max_message_length[parse->message] = parse->length;
+}
+
+//Process the message
+void processMessage(PARSE_STATE * parse, uint8_t type)
+{
+    switch (type)
+    {
+    case SENTENCE_TYPE_NMEA:
+        processNemaMessage(parse);
+        break;
+
+    case SENTENCE_TYPE_RTCM:
+        processRtcmMessage(parse);
+        break;
+
+    case SENTENCE_TYPE_UBX:
+        processUbxMessage(parse);
+        break;
+
+    default:
+        printf ("Unknown message type: %d\r\n", type);
+        break;
+    }
+}
+
+//Convert nibble to ASCII
+uint8_t nibbleToAscii(int nibble)
+{
+  nibble &= 0xf;
+  return (nibble > 9) ? nibble + 'a' - 10 : nibble + '0';
+}
+
+//Convert nibble to ASCII
+int AsciiToNibble(int data)
+{
+  //Convert the value to lower case
+  data |= 0x20;
+  if ((data >= 'a') && (data <= 'f'))
+    return data - 'a' + 10;
+  if ((data >= '0') && (data <= '9'))
+    return data - '0';
+  return -1;
+}
+
+void dumpBuffer(uint8_t * buffer, uint16_t length)
+{
+  unsigned int bytes;
+  uint8_t * end;
+  unsigned int index;
+
+  end = &buffer[length];
+  while (buffer < end)
+  {
+    //Determine the number of bytes to display on the line
+    bytes = end - buffer;
+    if (bytes > (16 - (offset & 0xf)))
+      bytes = 16 - (offset & 0xf);
+
+    //Display the offset
+    printf("0x%08lx: ", offset);
+
+    //Skip leading bytes
+    for (index = 0; index < (offset & 0xf); index++)
+      printf("   ");
+
+    //Display the data bytes
+    for (index = 0; index < bytes; index++)
+      printf("%02x ", buffer[index]);
+
+    //Separate the data bytes from the ASCII
+    for (; index < (16 - (offset & 0xf)); index++)
+      printf("   ");
+    printf(" ");
+
+    //Skip leading bytes
+    for (index = 0; index < (offset & 0xf); index++)
+      printf(" ");
+
+    //Display the ASCII values
+    for (index = 0; index < bytes; index++)
+      printf("%c", ((buffer[index] < ' ') || (buffer[index] >= 0x7f))
+                   ? '.' : buffer[index]);
+    printf("\r\n");
+
+    //Set the next line of data
+    buffer += bytes;
+    offset += bytes;
+  }
+}
+
+//Read the line termination
+uint8_t nmeaLineTermination(PARSE_STATE * parse, uint8_t data)
+{
+  unsigned int checksum;
+
+  //Process the line termination
+  if ((data != '\r') && (data != '\n'))
+  {
+    //Don't include this character in the buffer
+    parse->length--;
+
+    //Convert the checksum characters into binary
+    checksum = AsciiToNibble(parse->buffer[parse->nmeaLength - 2]) << 4;
+    checksum |= AsciiToNibble(parse->buffer[parse->nmeaLength - 1]);
+
+    //Validate the checksum
+    if (checksum == parse->crc)
+      parse->crc = 0;
+    if (parse->crc)
+    {
+      nmea_checksum_errors += 1;
+      dumpBuffer(parse->buffer, parse->length);
+      if ((AsciiToNibble(parse->buffer[parse->nmeaLength-2]) >= 0)
+        && (AsciiToNibble(parse->buffer[parse->nmeaLength-1]) >= 0))
+        printf ("    %s NMEA %s, %2d bytes, bad checksum, expecting 0x%c%c, computed: 0x%02x\r\n",
+                       parse->parserName,
+                       parse->nmeaMessageName,
+                       parse->length,
+                       parse->buffer[parse->nmeaLength-2],
+                       parse->buffer[parse->nmeaLength-1],
+                       parse->crc);
+      else
+        printf ("    %s NMEA %s, %2d bytes, invalid checksum bytes 0x%02x 0x%02x, computed: 0x%02x\r\n",
+                       parse->parserName,
+                       parse->nmeaMessageName,
+                       parse->length,
+                       parse->buffer[parse->nmeaLength-2],
+                       parse->buffer[parse->nmeaLength-1],
+                       parse->crc);
+    }
+
+    //Process this message
+    parse->eomCallback(parse, SENTENCE_TYPE_NMEA);
+
+    //Add this character to the beginning of the buffer
+    parse->buffer[0] = data;
+    parse->length = 1;
+    return waitForPreamble(parse, data);
+  }
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the linefeed
+uint8_t nmeaLinefeed(PARSE_STATE * parse, uint8_t data)
+{
+  unsigned int checksum;
+  uint8_t sentenceType;
+
+  //Convert the checksum characters into binary
+  checksum = AsciiToNibble(parse->buffer[parse->nmeaLength - 2]) << 4;
+  checksum |= AsciiToNibble(parse->buffer[parse->nmeaLength - 1]);
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Validate the checksum
+  if (checksum == parse->crc)
+    parse->crc = 0;
+  if (parse->crc)
+  {
+    nmea_checksum_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s NMEA %s, %2d bytes, bad checksum, expecting 0x%c%c, computed: 0x%02x\r\n",
+                   parse->parserName,
+                   parse->nmeaMessageName,
+                   parse->length,
+                   parse->buffer[parse->nmeaLength-2],
+                   parse->buffer[parse->nmeaLength-1],
+                   parse->crc);
+  }
+
+  //Process this message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_NMEA);
+
+  //Search for another preamble byte
+  parse->length = 0;
+  parse->crc = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the carriage return
+uint8_t nmeaCarriageReturn(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = nmeaLinefeed;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the second checksum byte
+uint8_t nmeaChecksumByte2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->nmeaLength = parse->length;
+//  parse->state = nmeaLineTermination;
+  parse->state = nmeaCarriageReturn;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the first checksum byte
+uint8_t nmeaChecksumByte1(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = nmeaChecksumByte2;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the message data
+uint8_t nmeaFindAsterisk(PARSE_STATE * parse, uint8_t data)
+{
+  if (data != '*')
+    parse->crc ^= data;
+  else
+    parse->state = nmeaChecksumByte1;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the message name
+uint8_t nmeaFindFirstComma(PARSE_STATE * parse, uint8_t data)
+{
+  parse->crc ^= data;
+  if ((data != ',') || (parse->nmeaMessageNameLength == 0))
+  {
+    if ((data < 'A') || (data > 'Z'))
+    {
+      //Display the invalid data
+      dumpBuffer(parse->buffer, parse->length - 1);
+      printf ("    %s Invalid NMEA data, %d bytes\r\n",
+                   parse->parserName, parse->length - 1);
+
+      parse->buffer[0] = data;
+      parse->crc = 0;
+      parse->length = 1;
+      return waitForPreamble (parse, data);
+    }
+
+    //Save the message name
+    parse->nmeaMessageName[parse->nmeaMessageNameLength++] = data;
+  }
+  else
+  {
+    //Zero terminate the message name
+    parse->nmeaMessageName[parse->nmeaMessageNameLength++] = 0;
+    parse->state = nmeaFindAsterisk;
+  }
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the CRC
+uint8_t rtcmReadCrc(PARSE_STATE * parse, uint8_t data)
+{
+  uint16_t dataSent;
+
+  //Account for this data byte
+  parse->bytesRemaining -= 1;
+
+  //Wait until all the data is received
+  if (parse->bytesRemaining > 0)
+    return SENTENCE_TYPE_RTCM;
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Display the RTCM messages with bad CRC
+  parse->crc &= 0x00ffffff;
+  if (parse->crc)
+  {
+    rtcm_crc_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s RTCM %d, %2d bytes, bad CRC, expecting 0x%02x%02x%02x, computed: 0x%06x\r\n",
+                   parse->parserName,
+                   parse->message,
+                   parse->length,
+                   parse->buffer[parse->length-3],
+                   parse->buffer[parse->length-2],
+                   parse->buffer[parse->length-1],
+                   parse->rtcmCrc);
+  }
+
+  //Process the message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_RTCM);
+
+  //Search for another preamble byte
+  parse->length = 0;
+  parse->computeCrc = false;
+  parse->crc = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the rest of the message
+uint8_t rtcmReadData(PARSE_STATE * parse, uint8_t data)
+{
+  uint16_t dataSent;
+
+  //Account for this data byte
+  parse->bytesRemaining -= 1;
+
+  //Wait until all the data is received
+  if (parse->bytesRemaining <= 0)
+  {
+    parse->rtcmCrc = parse->crc & 0x00ffffff;
+    parse->bytesRemaining = 3;
+    parse->state = rtcmReadCrc;
+  }
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the lower 4 bits of the message number
+uint8_t rtcmReadMessage2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->message |= data >> 4;
+  parse->bytesRemaining -= 1;
+  parse->state = rtcmReadData;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the upper 8 bits of the message number
+uint8_t rtcmReadMessage1(PARSE_STATE * parse, uint8_t data)
+{
+  parse->message = data << 4;
+  parse->bytesRemaining -= 1;
+  parse->state = rtcmReadMessage2;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the lower 8 bits of the length
+uint8_t rtcmReadLength2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->bytesRemaining |= data;
+  parse->state = rtcmReadMessage1;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the upper two bits of the length
+uint8_t rtcmReadLength1(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify the length byte
+  if (data & (~3))
+  {
+    //Display the invalid data
+    dumpBuffer(parse->buffer, parse->length - 1);
+    printf ("    %s Invalid RTCM data, %d bytes\r\n", parse->parserName, parse->length - 1);
+
+    //Invalid length, place this byte at the beginning of the buffer
+    parse->buffer[0] = data;
+    parse->length = 1;
+    parse->computeCrc = false;
+    parse->crc = 0;
+
+    //Start searching for a preamble byte
+    return waitForPreamble(parse, data);
+  }
+
+  //Save the upper 2 bits of the length
+  parse->bytesRemaining = data << 8;
+  parse->state = rtcmReadLength2;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the CK_B byte
+uint8_t ubloxCkB(PARSE_STATE * parse, uint8_t data)
+{
+  bool badChecksum;
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Validate the checksum
+  badChecksum = ((parse->buffer[parse->length - 2] != parse->ck_a)
+              || (parse->buffer[parse->length - 1] != parse->ck_b));
+  if (badChecksum)
+  {
+    ubx_checksum_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s U-Blox %d.%d, %2d bytes, bad checksum, expecting 0x%02x%02x, computed: 0x%02x%02x\r\n",
+                   parse->parserName,
+                   parse->message >> 8,
+                   parse->message & 0xff,
+                   parse->length,
+                   parse->buffer[parse->nmeaLength-2],
+                   parse->buffer[parse->nmeaLength-1],
+                   parse->ck_a,
+                   parse->ck_b);
+  }
+
+  //Process this message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_UBX);
+
+  //Search for the next preamble byte
+  parse->length = 0;
+  parse->crc = 0;
+  parse->ck_a = 0;
+  parse->ck_b = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the CK_A byte
+uint8_t ubloxCkA(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = ubloxCkB;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the payload
+uint8_t ubloxPayload(PARSE_STATE * parse, uint8_t data)
+{
+  //Compute the checksum over the payload
+  if (parse->bytesRemaining--)
+  {
+    //Calculate the checksum
+    parse->ck_a += data;
+    parse->ck_b += parse->ck_a;
+    return SENTENCE_TYPE_UBX;
+  }
+  return ubloxCkA(parse, data);
+}
+
+//Read the second length byte
+uint8_t ubloxLength2(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the second length byte
+  parse->bytesRemaining |= ((uint16_t)data) << 8;
+  parse->state = ubloxPayload;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the first length byte
+uint8_t ubloxLength1(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the first length byte
+  parse->bytesRemaining = data;
+  parse->state = ubloxLength2;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the ID byte
+uint8_t ubloxId(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the ID as the lower 8-bits of the message
+  parse->message |= data;
+  parse->state = ubloxLength1;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the class byte
+uint8_t ubloxClass(PARSE_STATE * parse, uint8_t data)
+{
+  //Start the checksum calculation
+  parse->ck_a = data;
+  parse->ck_b = data;
+
+  //Save the class as the upper 8-bits of the message
+  parse->message = ((uint16_t)data) << 8;
+  parse->state = ubloxId;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the second sync byte
+uint8_t ubloxSync2(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify the sync 2 byte
+  if (data != 0x62)
+  {
+    //Display the invalid data
+    dumpBuffer(parse->buffer, parse->length - 1);
+    printf ("    %s Invalid UBX data, %d bytes\r\n", parse->parserName, parse->length - 1);
+
+    //Invalid sync 2 byte, place this byte at the beginning of the buffer
+    parse->length = 0;
+    parse->buffer[parse->length++] = data;
+
+    //Start searching for a preamble byte
+    return waitForPreamble(parse, data);
+  }
+
+  parse->state = ubloxClass;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Wait for the preamble byte (0xd3)
+uint8_t waitForPreamble(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify that this is the preamble byte
+  offset = file_offset;
+  switch(data)
+  {
+  case '$':
+
+    //
+    //    NMEA Message
+    //
+    //    +----------+---------+--------+---------+----------+----------+
+    //    | Preamble |  Name   | Comma  |  Data   | Asterisk | Checksum |
+    //    |  8 bits  | n bytes | 8 bits | n bytes |  8 bits  | 2 bytes  |
+    //    |     $    |         |    ,   |         |          |          |
+    //    +----------+---------+--------+---------+----------+----------+
+    //    |                                                  |
+    //    |<------------------- Checksum ------------------->|
+    //
+
+    parse->crc = 0;
+    parse->computeCrc = false;
+    parse->nmeaMessageNameLength = 0;
+    parse->state = nmeaFindFirstComma;
+    return SENTENCE_TYPE_NMEA;
+
+  case 0xb5:
+
+    //
+    //    U-BLOX Message
+    //
+    //    |<-- Preamble --->|
+    //    |                 |
+    //    +--------+--------+---------+--------+---------+---------+--------+--------+
+    //    |  SYNC  |  SYNC  |  Class  |   ID   | Length  | Payload |  CK_A  |  CK_B  |
+    //    | 8 bits | 8 bits |  8 bits | 8 bits | 2 bytes | n bytes | 8 bits | 8 bits |
+    //    |  0xb5  |  0x62  |         |        |         |         |        |        |
+    //    +--------+--------+---------+--------+---------+---------+--------+--------+
+    //                      |                                      |
+    //                      |<------------- Checksum ------------->|
+    //
+    //  8-Bit Fletcher Algorithm, which is used in the TCP standard (RFC 1145)
+    //  http://www.ietf.org/rfc/rfc1145.txt
+    //  Checksum calculation
+    //      Initialization: CK_A = CK_B = 0
+    //      CK_A += data
+    //      CK_B += CK_A
+    //
+
+    parse->state = ubloxSync2;
+    return SENTENCE_TYPE_UBX;
+
+  case 0xd3:
+
+    //
+    //    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 -------------------------------->|
+    //
+
+    //Start the CRC with this byte
+    parse->crc = 0;
+    parse->crc = COMPUTE_CRC24Q(parse, data);
+    parse->computeCrc = true;
+
+    //Get the message length
+    parse->state = rtcmReadLength1;
+    return SENTENCE_TYPE_RTCM;
+  }
+
+  //preamble byte not found
+  dumpBuffer(parse->buffer, parse->length);
+  printf ("    %s invalid byte 0x%02x\r\n", parse->parserName, data);
+  parse->length = 0;
+  parse->state = waitForPreamble;
+  return SENTENCE_TYPE_NONE;
+}
+
+uint8_t *
+get_file (
+    const char * filename,
+    off_t * length
+    )
+{
+    int file;
+    uint8_t * file_data;
+    off_t file_size;
+
+    file_data = NULL;
+    do {
+        file = open (filename, O_RDONLY);
+        if (file < 0) {
+            perror ("ERROR - Failed to open the file");
+            break;
+        }
+
+        // Determine the file length
+        file_size = lseek (file, 0, SEEK_END);
+
+        // Get the file buffer
+        file_data = malloc (file_size);
+        if (!file_data) {
+            fprintf (stderr, "ERROR - Failed to allocate file buffer!\n");
+            break;
+        }
+
+        // Read the file into memory
+        lseek (file, 0, SEEK_SET);
+        if (read (file, file_data, file_size) != file_size) {
+            fprintf (stderr, "ERROR - Failed to read the file into memory!\n");
+            free (file_data);
+            file_data = NULL;
+            break;
+        }
+
+        // Return the file length
+        *length = file_size;
+    } while (0);
+
+    // Close the file
+    if (file > 0)
+        close (file);
+    return file_data;
+}
+
+const char * gnrmc = "$GNRMC,";
+const char * gprmc = "$GPRMC,";
+const char * timestamp;
+
+uint8_t *
+find_time_stamp (
+    uint8_t * data,
+    uint8_t * data_end
+    )
+{
+    int offset;
+    int timestamp_length;
+
+    timestamp_length = strlen (timestamp);
+    offset = 0;
+    while (data < data_end) {
+        if (*data++ != timestamp[offset++])
+            offset = 0;
+        else
+            if (offset == timestamp_length) {
+                data -= timestamp_length;
+                break;
+            }
+    }
+
+    // Found a match or end of the data
+    if (data >= data_end)
+        data = NULL;
+    return data;
+}
+
+uint8_t *
+write_temp_file (
+    const char * filename,
+    uint8_t * data,
+    uint8_t * data_end
+    )
+{
+    int file;
+    ssize_t file_size;
+
+    do {
+        file = creat (filename, S_IRWXU | S_IRGRP | S_IROTH);
+        if (file < 0) {
+            perror ("ERROR - Failed to create the file");
+            break;
+        }
+
+        // Write the data to the file
+        file_size = data_end - data;
+        if (write (file, data, file_size) != file_size) {
+            fprintf (stderr, "ERROR - Failed to write to %s!\n", filename);
+            break;
+        }
+
+        // Done with the data
+        data = NULL;
+    } while (0);
+
+    // Close the file
+    if (file > 0)
+        close (file);
+    return data;
+}
+
+int
+main (
+    int argc,
+    char ** argv
+    )
+{
+    uint8_t * a;
+    off_t a_length;
+    uint8_t * b;
+    off_t b_length;
+    int delta;
+    char * filename_a;
+    char * filename_b;
+    int match_length;
+    uint8_t * ts_a;
+    uint8_t * ts_b;
+    int ts_offset;
+
+/*
+    int bit;
+    unsigned char * data;
+    unsigned char * data_end;
+    int file;
+    off_t file_size;
+    int index;
+    int length;
+    int message_number;
+    int message_type;
+    static PARSE_STATE parse = {waitForPreamble, processMessage, "Tx"};
+    unsigned char * string;
+    int total;
+    uint8_t value;
+*/
+
+    // Dispay the help text
+    if (argc != 3) {
+        fprintf (stderr, "%s   file1   file2\n", argv[0]);
+        return -1;
+    }
+
+    // Open the first binary file
+    filename_a = argv[1];
+    a = get_file (filename_a, &a_length);
+    if (!a) {
+        return -2;
+    }
+
+    // Open the second binary file
+    filename_b = argv[2];
+    b = get_file (filename_b, &b_length);
+    if (!b) {
+        return -3;
+    }
+
+    // Find the time stamps
+    timestamp = gnrmc;
+    ts_offset = strlen (timestamp);
+    ts_a = find_time_stamp (a, &a[a_length]);
+    if (!ts_a) {
+        timestamp = gprmc;
+        ts_offset = strlen (timestamp);
+        ts_a = find_time_stamp (a, &a[a_length]);
+        if (!ts_a) {
+            fprintf (stderr, "ERROR - Failed to find timestamp in %s\n", filename_a);
+            return -4;
+        }
+    }
+
+    ts_b = find_time_stamp (b, &b[b_length]);
+    if (!ts_b) {
+        fprintf (stderr, "ERROR - Failed to find timestamp in %s\n", filename_b);
+        return -4;
+    }
+
+    // Synchronize the time stamps
+    match_length = ts_offset + 9;
+    do {
+        delta = strncmp ((char *)ts_a, (char *)ts_b, match_length);
+        if (delta == 0)
+            break;
+        if (delta < 0) {
+            ts_a = find_time_stamp (&ts_a[match_length], &a[a_length]);
+            if (!ts_a) {
+                fprintf (stderr, "ERROR - Failed to find matching timestamp in %s\n", filename_a);
+                return -5;
+            }
+            continue;
+        }
+        ts_b = find_time_stamp (&ts_b[match_length], &b[b_length]);
+        if (!ts_b) {
+            fprintf (stderr, "ERROR - Failed to find matching timestamp in %s\n", filename_b);
+            return -6;
+        }
+    } while (1);
+
+    printf ("Timestamp: %c%c%c%c%c%c%c%c%c\n",
+        ts_a[ts_offset],
+        ts_a[ts_offset + 1],
+        ts_a[ts_offset + 2],
+        ts_a[ts_offset + 3],
+        ts_a[ts_offset + 4],
+        ts_a[ts_offset + 5],
+        ts_a[ts_offset + 6],
+        ts_a[ts_offset + 7],
+        ts_a[ts_offset + 8]);
+
+    // Create the temporary files
+    if (write_temp_file ("a.txt", ts_a, &a[a_length]))
+        return -7;
+    if (write_temp_file ("b.txt", ts_b, &b[b_length]))
+        return -8;
+
+/*
+    // Open the log file
+    file = open (filename, O_RDONLY);
+    if (file < 0) {
+        perror ("ERROR - Failed to open the file");
+        return -1;
+    }
+
+    // Determine the file length
+    file_size = lseek (file, 0, SEEK_END);
+
+    // Get the file buffer
+    file_data = malloc (file_size);
+    if (!file_data) {
+        fprintf (stderr, "ERROR - Failed to allocate file buffer!\n");
+        return -2;
+    }
+
+    // Read the file into memory
+    lseek (file, 0, SEEK_SET);
+    if (read (file, file_data, file_size) != file_size) {
+        fprintf (stderr, "ERROR - Failed to read the file into memory!\n");
+    }
+
+    // Close the file
+    close (file);
+
+    // Skip the first byte to force unaligned start
+    data = file_data;
+    data_end = &data[file_size];
+    string = data;
+    while (data < data_end) {
+        file_offset = data - file_data;
+
+        //Save the data byte
+        value = *data;
+        parse.buffer[parse.length++] = value;
+
+        //Compute the CRC value for the message
+        if (parse.computeCrc)
+            parse.crc = COMPUTE_CRC24Q(&parse, value);
+
+        //Parse this message
+        parse.state(&parse, value);
+        data++;
+    }
+
+    // Display the checksum and CRC errors
+    if (nmea_checksum_errors)
+        printf ("    Total NMEA checksum errors: %d\n", nmea_checksum_errors);
+    if (rtcm_crc_errors)
+        printf ("    Total RTCM message CRC errors: %d\n", rtcm_crc_errors);
+    if (ubx_checksum_errors)
+        printf ("    Total UBX message checksum errors: %d\n", ubx_checksum_errors);
+
+    // Display the NMEA message list
+    if (DISPLAY_NMEA_MESSAGES) {
+        printf ("NMEA Message List:\n");
+fflush(stdout);
+        NMEA_MESSAGE * message = nmea_list;
+        while (message) {
+            printf ("    %s: %d %s, max length: %d bytes\n", message->message, message->count,
+                    (message->count == 1) ? "time" : "times", message->max_length);
+            message = message->next;
+        }
+    }
+
+    // Display the RTCM message type list
+    if (DISPLAY_RTCM_MESSAGE_LIST) {
+        printf ("RTCM Message List:\n");
+fflush(stdout);
+        for (index = 0; index < (int)(sizeof(rtcm_messages) / sizeof(rtcm_messages[0])); index++) {
+            if (rtcm_messages[index])
+                for (bit = 0; bit < 32; bit++) {
+                    message_number = (index << 5) | bit;
+                    if (rtcm_messages[index] & (1 << bit))
+                        printf ("    %d (%02x %xx): %d %s, max length: %d bytes\n", message_number,
+                                message_number >> 4, message_number & 0xf,
+                                rtcm_message_count[message_number],
+                                (rtcm_message_count[message_number] == 1) ? "time" : "times",
+                                rtcm_max_message_length[message_number]);
+                }
+        }
+    }
+
+    // Display the UBX message type list
+    if (DISPLAY_UBX_MESSAGE_LIST) {
+        printf ("UBX Message List:\n");
+fflush(stdout);
+        for (index = 0; index < (int)(sizeof(ubx_messages) / sizeof(ubx_messages[0])); index++) {
+            if (ubx_messages[index])
+                for (bit = 0; bit < 32; bit++) {
+                    message_number = (index << 5) | bit;
+                    if (ubx_messages[index] & (1 << bit))
+                        printf ("    %d.%d (0x%02x.%02x): %d %s, max length: %d bytes\n",
+                                message_number >> 8, message_number & 0xff,
+                                message_number >> 8, message_number & 0xff,
+                                ubx_message_count[message_number],
+                                (ubx_message_count[message_number] == 1) ? "time" : "times",
+                                ubx_max_message_length[message_number]);
+                }
+        }
+    }
+
+    // Display the bad characters
+    if (DISPLAY_BAD_CHARACTERS) {
+        printf ("Bad characters:\n");
+fflush(stdout);
+        total = 0;
+        for (index = 0; index < 256; index++) {
+            if (bad_characters[index >> 5] & (1 << (index & 0x1f))) {
+                printf ("    0x%02x: %d\n", index, bad_character_count[index]);
+                total += bad_character_count[index];
+            }
+        }
+        printf ("    Total: %d\n", total);
+    }
+
+    // Display the bad character offsets
+    if (DISPLAY_BAD_CHARACTER_OFFSETS) {
+        printf ("Bad character offsets:\n");
+fflush(stdout);
+        total = 0;
+        for (index = 0; index <= bad_character_offset_count; index++) {
+            printf ("    0x%08x: %d bytes\n", bad_character_offset[index], bad_character_length[index]);
+            total += bad_character_length[index];
+        }
+        printf ("    Total: %d\n", total);
+    }
+*/
+    return 0;
+}
diff --git a/C/NMEA_Client.c b/C/NMEA_Client.c
new file mode 100644
index 000000000..b1a1459e2
--- /dev/null
+++ b/C/NMEA_Client.c
@@ -0,0 +1,81 @@
+/*
+ * NMEA_Client.c
+ *
+ * Program to display the NMEA messages from the RTK Express
+ */
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+uint8_t rxBuffer[2048];
+
+int
+main (
+    int argc,
+    char ** argv
+    )
+{
+    int bytesRead;
+    int nmeaSocket;
+    struct sockaddr_in serverIpAddress;
+
+
+    // Display the help text
+    if (argc != 2)
+    {
+        printf ("%s   serverIpAddress\n", argv[0]);
+        return -1;
+    }
+
+    // Initialize the server address
+    memset (&serverIpAddress, '0', sizeof(serverIpAddress));
+    serverIpAddress.sin_family = AF_INET;
+    serverIpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+    serverIpAddress.sin_port = htons(1958);
+    if (inet_pton (AF_INET, argv[1], &serverIpAddress.sin_addr) <= 0)
+    {
+        perror ("ERROR - Invalid IPv4 address!\n");
+        return -2;
+    }
+
+    //Create the socket
+    nmeaSocket = socket(AF_INET, SOCK_STREAM, 0);
+    if (nmeaSocket < 0)
+    {
+        perror ("ERROR - Unable to create the client socket!\n");
+        return -3;
+    }
+
+    if (connect (nmeaSocket, (struct sockaddr *)&serverIpAddress, sizeof(serverIpAddress)) < 0)
+    {
+       perror("Error : Failed to connect to NMEA server!\n");
+       return -4;
+    }
+
+    // Read the NMEA data from the client
+    while ((bytesRead = read (nmeaSocket, rxBuffer, sizeof(rxBuffer)-1)) > 0)
+    {
+        // Zero terminate the NMEA string
+        rxBuffer[bytesRead] = 0;
+
+        // Output the NMEA buffer
+        if (fputs ((char *)rxBuffer, stdout) == EOF)
+        {
+            perror ("ERROR - Failed to write to stdout!\n");
+            return -5;
+        }
+    }
+
+    if (bytesRead < 0)
+    {
+        perror ("ERROR - Failed reading from NMEA server!\n");
+        return -6;
+    }
+
+    // Successful execution
+    return 0;
+}
diff --git a/C/Split_Messages.c b/C/Split_Messages.c
new file mode 100644
index 000000000..767d6c617
--- /dev/null
+++ b/C/Split_Messages.c
@@ -0,0 +1,1273 @@
+// Split_Messages.c
+
+#include <ctype.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "crc24q.h"
+#include "crc24q.c"
+//#include "Crc24q.h"
+
+#define COMPUTE_CRC24Q(parse, data)  (((parse)->crc << 8) ^ crc24q[data ^ (((parse)->crc >> 16) & 0xff)])
+
+#define DISPLAY_BAD_CHARACTERS          0
+#define DISPLAY_BAD_CHARACTER_OFFSETS   1
+#define DISPLAY_RTCM_MESSAGE_LIST       1
+#define DISPLAY_UBX_MESSAGE_LIST        1
+#define DISPLAY_BOUNDARY                0
+#define DISPLAY_DATA_BYTES              0
+#define DISPLAY_LIST                    0
+#define DISPLAY_MESSAGE_TYPE            0
+#define DISPLAY_MESSAGE_TYPE_LIST       1
+#define DISPLAY_NMEA_MESSAGES           1
+#define DISPLAY_STRINGS                 0
+
+#define MESSAGE_LENGTH(length)          (3 + length + 3)
+
+#define BINARY_MESSAGE_START            0xd3
+
+#define MAX_BAD_CHARACTERS              1000
+
+uint32_t bad_characters[256>>5];
+uint32_t bad_character_count[256];
+uint32_t bad_character_offset[MAX_BAD_CHARACTERS];
+uint32_t bad_character_length[MAX_BAD_CHARACTERS];
+int32_t bad_character_offset_count = -1;
+
+char buffer[65536];
+char string[256];
+uint8_t * file_data;
+uint32_t rtcm_messages[4096 >> 5];
+uint32_t rtcm_message_count[4096];
+uint32_t rtcm_max_message_length[4096];
+uint32_t ubx_messages[65536 >> 5];
+uint32_t ubx_message_count[65536];
+uint32_t ubx_max_message_length[65536];
+int bad_checksum_header;
+int nmea_checksum_errors;
+int rtcm_crc_errors;
+int ubx_checksum_errors;
+
+typedef struct _NMEA_MESSAGE {
+    struct _NMEA_MESSAGE * next;
+    uint8_t * message;
+    uint32_t count;
+    uint32_t max_length;
+} NMEA_MESSAGE;
+
+NMEA_MESSAGE * nmea_list;
+
+enum SentenceTypes
+{
+SENTENCE_TYPE_NONE = 0,
+SENTENCE_TYPE_NMEA,
+SENTENCE_TYPE_UBX,
+SENTENCE_TYPE_RTCM
+} currentSentence = SENTENCE_TYPE_NONE;
+
+typedef struct _PARSE_STATE * P_PARSE_STATE;
+
+//Parse routine
+typedef uint8_t (* PARSE_ROUTINE)(P_PARSE_STATE parse,  //Parser state
+                                  uint8_t data);        //Incoming data byte
+
+//End of message callback routine
+typedef void (* EOM_CALLBACK)(P_PARSE_STATE parse,      //Parser state
+                                 uint8_t type);         //Message type
+
+#define PARSE_BUFFER_LENGTH       0x10000
+
+typedef struct _PARSE_STATE
+{
+  PARSE_ROUTINE state;            //Parser state routine
+  EOM_CALLBACK eomCallback;       //End of message callback routine
+  const char * parserName;        //Name of parser
+  uint32_t crc;                   //RTCM computed CRC
+  uint32_t rtcmCrc;               //Computed CRC value for the RTCM message
+  uint32_t invalidRtcmCrcs;       //Number of bad RTCM CRCs detected
+  uint16_t bytesRemaining;        //Bytes remaining in RTCM CRC calculation
+  uint16_t length;                //Message length including line termination
+  uint16_t maxLength;             //Maximum message length including line termination
+  uint16_t message;               //RTCM message number
+  uint16_t nmeaLength;            //Length of the NMEA message without line termination
+  uint8_t buffer[PARSE_BUFFER_LENGTH];  //Buffer containing the message
+  uint8_t nmeaMessageName[16];    //Message name
+  uint8_t nmeaMessageNameLength;  //Length of the message name
+  uint8_t ck_a;                   //U-blox checksum byte 1
+  uint8_t ck_b;                   //U-blox checksum byte 2
+  bool computeCrc;                //Compute the CRC when true
+} PARSE_STATE;
+
+//Forward declaration
+uint8_t waitForPreamble(PARSE_STATE * parse, uint8_t data);
+uint64_t offset;
+uint64_t file_offset;
+
+void
+dump_message (
+    unsigned char * data
+    )
+{
+    unsigned int actual;
+    unsigned int crc;
+    int index;
+    int length;
+    int offset;
+
+    //
+    //    +----------+--------+----------------+---------+----------+---------+
+    //    | Preamble |  Fill  | Message Length | Message |   Fill   | CRC-24Q |
+    //    |  8 bits  | 6 bits |    10 bits     |  n-bits | 0-7 bits | 24 bits |
+    //    |   0xd3   | 000000 |                |         |   zeros  |         |
+    //    +----------+--------+----------------+---------+----------+---------+
+    //
+
+    // Get the number of bytes
+    length = (data[1] << 8) | data[2];
+    if (DISPLAY_DATA_BYTES) {
+        // Dump the message
+        offset = data - file_data;
+        printf ("0x%08x: %02x %02x %02x\n", offset, data[0], data[1], data[2]);
+        offset += 3;
+        index = 0;
+        if (length > 0) {
+            do
+            {
+                // Display the offset at the beginning of the line
+                if (!(index & 0xf))
+                    printf ("0x%08x: ", offset);
+
+                // Display the data bytes
+                printf ("%02x ", data[index+3]);
+                offset += 1;
+
+                // Terminate the lines
+                if (!(++index % (DISPLAY_DATA_BYTES ? DISPLAY_DATA_BYTES : 1)))
+                    printf ("\n");
+            } while (index < length);
+
+            // Terminate a short line
+            if (index % (DISPLAY_DATA_BYTES ? DISPLAY_DATA_BYTES : 1))
+                printf ("\n");
+        }
+
+        // Display the Cyclic Redundancy Check (CRC)
+        printf ("0x%08x: %02x %02x %02x CRC: %s\n",
+                offset, data[3 + index], data[3 + index + 1], data[3 + index + 2],
+                crc24q_check (data, MESSAGE_LENGTH(length)) ? "Matches" : "Does not match!");
+    } else {
+        if (!crc24q_check (data, MESSAGE_LENGTH(length))) {
+            if (!bad_checksum_header) {
+                bad_checksum_header = 1;
+                printf ("Bad checksums:\n");
+            }
+            length = MESSAGE_LENGTH(length);
+            crc = crc24q_hash(data, length - 3);
+            actual = (data[length - 3] << 16) | (data[length - 2] << 8) | data[length - 1];
+            printf ("    0x%08lx: Binary message, expected CRC: 0x%06x, actual CRC: 0x%06x\n",
+                    data - file_data, crc, actual);
+            rtcm_crc_errors += 1;
+        }
+    }
+}
+
+void
+display_string (
+    unsigned char * string,
+    int length
+    )
+{
+    char * temp;
+    char * temp_end;
+
+    // Copy the strings into the buffer
+    memcpy (buffer, string, length);
+    buffer[length] = 0;
+
+    // Terminate the strings
+    temp = buffer;
+    temp_end = &temp[length];
+    do {
+        if ((*temp == '\r') || (*temp == '\n'))
+            *temp = 0;
+    } while (++temp < temp_end);
+
+    // Display the strings
+    temp = buffer;
+    while (temp < temp_end) {
+        if (*temp)
+            printf ("%s\n", temp);
+        temp += strlen(temp) + 1;
+    }
+}
+
+unsigned char *
+process_nmea_message (
+    unsigned char * data,
+    unsigned char * data_end
+    )
+{
+    unsigned char checksum;
+    char checksum_char[2];
+    NMEA_MESSAGE * message;
+    NMEA_MESSAGE * previous;
+    unsigned char * start;
+
+    // Check for the beginning of a NMEA message ($)
+    if (*data != '$') {
+        if ((*data != '\r') && (*data != '\n')) {
+            bad_character_count[*data] += 1;
+            bad_characters[*data >> 5] |= 1 << (*data & 0x1f);
+            if ((bad_character_offset_count < 0)
+                || ((bad_character_offset[bad_character_offset_count] + bad_character_length[bad_character_offset_count]) != (data - file_data))) {
+                bad_character_offset_count += 1;
+                bad_character_offset[bad_character_offset_count] = data - file_data;
+            }
+            bad_character_length[bad_character_offset_count] += 1;
+        }
+        return data + 1;
+    }
+
+    // Skip over the dollar sign ($)
+    start = data++;
+
+    // Scan for comma or end of message
+    checksum = 0;
+    while ((*data != ',') && (*data != '\r') && (*data != '\n')
+        && (*data != BINARY_MESSAGE_START))
+        checksum ^= *data++;
+
+    // Return if this is the start of a binary message
+    if (*data == BINARY_MESSAGE_START)
+        return data;
+
+    // Remember the message if a comma was found
+    if (*data == ',') {
+        if (DISPLAY_LIST)
+            printf ("----------------------\r\n");
+
+        // Build the zero terminated string
+        memset (string, 0, sizeof(string));
+        strncpy (string, (char *)start, data - start);
+
+        /*
+            list --> NULL
+
+            previous = NULL
+            string: $GNGST --.
+                             V
+                     +------------+
+            list --> | $GNGST (1) | --> NULL
+                     +------------+
+
+            previous = $GNGST
+            string: $GNGGA --.
+                             V
+                     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+
+
+            previous = $GNGSA
+            string: $GNGSA --------------------.
+                                               V
+                     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (1) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+     +------------+
+
+            previous = $GNGSA
+            string: $GNGSA --------------------.
+                                               V
+                     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (2) | --> | $GNGST (1) | --> NULL
+                     +------------+     +------------+     +------------+
+
+            previous = $GNGST
+            string: $GNRMC ---------------------------------------------------------.
+                                                                                    V
+                     +------------+     +------------+     +------------+     +------------+
+            list --> | $GNGGA (1) | --> | $GNGSA (2) | --> | $GNGST (1) | --> | $GNRMC (1) | --> NULL
+                     +------------+     +------------+     +------------+     +------------+
+
+         */
+
+        // Display the list
+        if (DISPLAY_LIST) {
+            printf ("list: ");
+            for (previous = nmea_list; previous; previous = previous->next)
+                printf ("%s(%d)-->", previous->message, previous->count);
+            printf ("NULL\n");
+        }
+
+        // Find the location for insertion
+        // Check for something in the list
+        previous = NULL;
+        if (nmea_list) {
+            if (strcmp((char *)nmea_list->message, string) <= 0) {
+                previous = nmea_list;
+                while (previous->next && (strcmp((char *)previous->next->message, string) <= 0))
+                    previous = previous->next;
+            }
+        }
+
+        // Display the insertion decision
+        if (DISPLAY_LIST) {
+            printf ("previous: %s\n", ((previous != NULL) ? (char *)previous->message : (char *)"NULL"));
+            printf ("string: %s\n", string);
+        }
+
+        // Check for a duplicate message
+        if (previous && (strcmp ((char *)previous->message, string) == 0)) {
+            if (DISPLAY_LIST)
+                printf ("Duplicate found: %d\n", previous->count);
+            previous->count += 1;
+            message = previous;
+        } else {
+            // Add the new message
+            message = malloc (sizeof(NMEA_MESSAGE) + strlen(string) + 1);
+            message->message = (uint8_t *)(message + 1);
+            strcpy((char *)message->message, string);
+            message->count = 1;
+
+            // Message insertion position
+            //      previous == NULL; ==> list head
+            //      previous != NULL; ==> middle or end of list
+            if (!previous) {
+                if (DISPLAY_LIST)
+                    printf ("Add to head of the list\n");
+
+                // Add this message at the start of the list
+                message->next = nmea_list;
+                nmea_list = message;
+            } else {
+                if (DISPLAY_LIST)
+                    printf ("Add to middle of the list\n");
+
+                // Insert this message into the middle of the list
+                message->next = previous->next;
+                previous->next = message;
+            }
+        }
+
+        // Display the new list
+        if (DISPLAY_LIST) {
+            printf ("New list: ");
+            for (previous = nmea_list; previous; previous = previous->next)
+                printf ("%s(%d)-->", previous->message, previous->count);
+            printf ("NULL\n");
+        }
+    }
+
+    // Scan for asterisk or end of message
+    while ((*data != '*') && (*data != '\r') && (*data != '\n')
+        && (*data != BINARY_MESSAGE_START))
+        checksum ^= *data++;
+
+    // Check for end of NMEA message, validate the checksum
+    if (*data == '*') {
+        checksum_char[0] = ((checksum >> 4) & 0xf) + '0';
+        if (checksum_char[0] > '9')
+            checksum_char[0] += 'A' - '0' - 10;
+        checksum_char[1] = (checksum & 0xf) + '0';
+        if (checksum_char[1] > '9')
+            checksum_char[1] += 'A' - '0' - 10;
+        if ((toupper(data[1]) != checksum_char[0]) || (toupper(data[2]) != checksum_char[1])) {
+            if (!bad_checksum_header) {
+                bad_checksum_header = 1;
+                printf ("Bad checksums:\n");
+            }
+            printf ("    0x%08lx: NMEA %s, expected CRC: 0x%02x, actual CRC: 0x%c%c\n",
+                    data - file_data, &string[1], checksum, data[1], data[2]);
+            nmea_checksum_errors += 1;
+        }
+        data += 3;
+    }
+
+    // Scan for end of message
+    while ((*data != '\r') && (*data != '\n') && (*data != BINARY_MESSAGE_START))
+        data++;
+
+    return data;
+}
+
+uint8_t *
+find_gnss_header (
+    uint8_t * data,
+    uint8_t * data_end
+    )
+{
+    int length;
+
+    do {
+        //  From RTCM 10403.2 Section 4
+        //
+        //    +----------+--------+----------------+---------+----------+---------+
+        //    | Preamble |  Fill  | Message Length | Message |   Fill   | CRC-24Q |
+        //    |  8 bits  | 6 bits |    10 bits     |  n-bits | 0-7 bits | 24 bits |
+        //    |   0xd3   | 000000 |                |         |   zeros  |         |
+        //    +----------+--------+----------------+---------+----------+---------+
+        //
+
+        // Locate the beginning of the message
+        while ((data < data_end) && (*data != BINARY_MESSAGE_START))
+            data = process_nmea_message (data, data_end);
+
+        // Check for end of data
+        if (data >= data_end)
+            break;
+
+        // Get the number of bytes
+        length = (data[1] << 8) | data[2];
+        if ((data + MESSAGE_LENGTH(length)) <= data_end) {
+
+            // Verify the CRC
+            if (crc24q_check (data, MESSAGE_LENGTH(length)))
+                break;
+        }
+
+        // Skip this preamble byte
+        data++;
+    } while (data < data_end);
+
+    // Return the address of the next preamble byte or end of data
+    return data;
+}
+
+void processNemaMessage(PARSE_STATE * parse)
+{
+    NMEA_MESSAGE * message;
+    NMEA_MESSAGE * previous;
+
+    //Display the NMEA message
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s NMEA %s, %d bytes\r\n", parse->parserName, parse->nmeaMessageName, parse->length);
+
+    // Display the list
+    if (DISPLAY_LIST) {
+        printf ("list: ");
+        for (previous = nmea_list; previous; previous = previous->next)
+            printf ("%s(%d)-->", previous->message, previous->count);
+        printf ("NULL\n");
+    }
+
+    // Find the location for insertion
+    // Check for something in the list
+    previous = NULL;
+    if (nmea_list) {
+        if (strcmp((char *)nmea_list->message, (char *)parse->nmeaMessageName) <= 0) {
+            previous = nmea_list;
+            while (previous->next && (strcmp((char *)previous->next->message, (char *)parse->nmeaMessageName) <= 0))
+                previous = previous->next;
+        }
+    }
+
+    // Display the insertion decision
+    if (DISPLAY_LIST) {
+        printf ("previous: %s\n", ((previous != NULL) ? (char *)previous->message : (char *)"NULL"));
+        printf ("string: %s\n", parse->nmeaMessageName);
+    }
+
+    // Check for a duplicate message
+    if (previous && (strcmp ((char *)previous->message, (char *)parse->nmeaMessageName) == 0)) {
+        if (DISPLAY_LIST)
+            printf ("Duplicate found: %d\n", previous->count);
+        previous->count += 1;
+        message = previous;
+        if (message->max_length < parse->length)
+            message->max_length = parse->length;
+    } else {
+        // Add the new message
+        message = malloc (sizeof(NMEA_MESSAGE) + strlen((char *)parse->nmeaMessageName) + 1);
+        message->message = (uint8_t *)(message + 1);
+        strcpy((char *)message->message, (char *)parse->nmeaMessageName);
+        message->count = 1;
+        message->max_length = parse->length;
+
+        // Message insertion position
+        //      previous == NULL; ==> list head
+        //      previous != NULL; ==> middle or end of list
+        if (!previous) {
+            if (DISPLAY_LIST)
+                printf ("Add to head of the list\n");
+
+            // Add this message at the start of the list
+            message->next = nmea_list;
+            nmea_list = message;
+        } else {
+            if (DISPLAY_LIST)
+                printf ("Add to middle of the list\n");
+
+            // Insert this message into the middle of the list
+            message->next = previous->next;
+            previous->next = message;
+        }
+    }
+
+    // Display the new list
+    if (DISPLAY_LIST) {
+        printf ("New list: ");
+        for (previous = nmea_list; previous; previous = previous->next)
+            printf ("%s(%d)-->", previous->message, previous->count);
+        printf ("NULL\n");
+    }
+}
+
+void processRtcmMessage(PARSE_STATE * parse)
+{
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s RTCM %d, %d bytes\r\n", parse->parserName, parse->message, parse->length);
+    rtcm_messages[parse->message >> 5] |= 1 << (parse->message & 0x1f);
+    rtcm_message_count[parse->message] += 1;
+    if (rtcm_max_message_length[parse->message] < parse->length)
+        rtcm_max_message_length[parse->message] = parse->length;
+}
+
+void processUbxMessage(PARSE_STATE * parse)
+{
+//    dumpBuffer(parse->buffer, parse->length);
+//    printf("    %s UBX %d.%d, %d bytes\r\n", parse->parserName, parse->message >> 8, parse->message & 0xff, parse->length);
+    ubx_messages[parse->message >> 5] |= 1 << (parse->message & 0x1f);
+    ubx_message_count[parse->message] += 1;
+    if (ubx_max_message_length[parse->message] < parse->length)
+      ubx_max_message_length[parse->message] = parse->length;
+}
+
+//Process the message
+void processMessage(PARSE_STATE * parse, uint8_t type)
+{
+    switch (type)
+    {
+    case SENTENCE_TYPE_NMEA:
+        processNemaMessage(parse);
+        break;
+
+    case SENTENCE_TYPE_RTCM:
+        processRtcmMessage(parse);
+        break;
+
+    case SENTENCE_TYPE_UBX:
+        processUbxMessage(parse);
+        break;
+
+    default:
+        printf ("Unknown message type: %d\r\n", type);
+        break;
+    }
+}
+
+//Convert nibble to ASCII
+uint8_t nibbleToAscii(int nibble)
+{
+  nibble &= 0xf;
+  return (nibble > 9) ? nibble + 'a' - 10 : nibble + '0';
+}
+
+//Convert nibble to ASCII
+int AsciiToNibble(int data)
+{
+  //Convert the value to lower case
+  data |= 0x20;
+  if ((data >= 'a') && (data <= 'f'))
+    return data - 'a' + 10;
+  if ((data >= '0') && (data <= '9'))
+    return data - '0';
+  return -1;
+}
+
+void dumpBuffer(uint8_t * buffer, uint16_t length)
+{
+  unsigned int bytes;
+  uint8_t * end;
+  unsigned int index;
+
+  end = &buffer[length];
+  while (buffer < end)
+  {
+    //Determine the number of bytes to display on the line
+    bytes = end - buffer;
+    if (bytes > (16 - (offset & 0xf)))
+      bytes = 16 - (offset & 0xf);
+
+    //Display the offset
+    printf("0x%08lx: ", offset);
+
+    //Skip leading bytes
+    for (index = 0; index < (offset & 0xf); index++)
+      printf("   ");
+
+    //Display the data bytes
+    for (index = 0; index < bytes; index++)
+      printf("%02x ", buffer[index]);
+
+    //Separate the data bytes from the ASCII
+    for (; index < (16 - (offset & 0xf)); index++)
+      printf("   ");
+    printf(" ");
+
+    //Skip leading bytes
+    for (index = 0; index < (offset & 0xf); index++)
+      printf(" ");
+
+    //Display the ASCII values
+    for (index = 0; index < bytes; index++)
+      printf("%c", ((buffer[index] < ' ') || (buffer[index] >= 0x7f))
+                   ? '.' : buffer[index]);
+    printf("\r\n");
+
+    //Set the next line of data
+    buffer += bytes;
+    offset += bytes;
+  }
+}
+
+//Read the line termination
+uint8_t nmeaLineTermination(PARSE_STATE * parse, uint8_t data)
+{
+  unsigned int checksum;
+
+  //Process the line termination
+  if ((data != '\r') && (data != '\n'))
+  {
+    //Don't include this character in the buffer
+    parse->length--;
+
+    //Convert the checksum characters into binary
+    checksum = AsciiToNibble(parse->buffer[parse->nmeaLength - 2]) << 4;
+    checksum |= AsciiToNibble(parse->buffer[parse->nmeaLength - 1]);
+
+    //Validate the checksum
+    if (checksum == parse->crc)
+      parse->crc = 0;
+    if (parse->crc)
+    {
+      nmea_checksum_errors += 1;
+      dumpBuffer(parse->buffer, parse->length);
+      if ((AsciiToNibble(parse->buffer[parse->nmeaLength-2]) >= 0)
+        && (AsciiToNibble(parse->buffer[parse->nmeaLength-1]) >= 0))
+        printf ("    %s NMEA %s, %2d bytes, bad checksum, expecting 0x%c%c, computed: 0x%02x\r\n",
+                       parse->parserName,
+                       parse->nmeaMessageName,
+                       parse->length,
+                       parse->buffer[parse->nmeaLength-2],
+                       parse->buffer[parse->nmeaLength-1],
+                       parse->crc);
+      else
+        printf ("    %s NMEA %s, %2d bytes, invalid checksum bytes 0x%02x 0x%02x, computed: 0x%02x\r\n",
+                       parse->parserName,
+                       parse->nmeaMessageName,
+                       parse->length,
+                       parse->buffer[parse->nmeaLength-2],
+                       parse->buffer[parse->nmeaLength-1],
+                       parse->crc);
+    }
+
+    //Process this message
+    parse->eomCallback(parse, SENTENCE_TYPE_NMEA);
+
+    //Add this character to the beginning of the buffer
+    parse->buffer[0] = data;
+    parse->length = 1;
+    return waitForPreamble(parse, data);
+  }
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the linefeed
+uint8_t nmeaLinefeed(PARSE_STATE * parse, uint8_t data)
+{
+  unsigned int checksum;
+  uint8_t sentenceType;
+
+  //Convert the checksum characters into binary
+  checksum = AsciiToNibble(parse->buffer[parse->nmeaLength - 2]) << 4;
+  checksum |= AsciiToNibble(parse->buffer[parse->nmeaLength - 1]);
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Validate the checksum
+  if (checksum == parse->crc)
+    parse->crc = 0;
+  if (parse->crc)
+  {
+    nmea_checksum_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s NMEA %s, %2d bytes, bad checksum, expecting 0x%c%c, computed: 0x%02x\r\n",
+                   parse->parserName,
+                   parse->nmeaMessageName,
+                   parse->length,
+                   parse->buffer[parse->nmeaLength-2],
+                   parse->buffer[parse->nmeaLength-1],
+                   parse->crc);
+  }
+
+  //Process this message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_NMEA);
+
+  //Search for another preamble byte
+  parse->length = 0;
+  parse->crc = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the carriage return
+uint8_t nmeaCarriageReturn(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = nmeaLinefeed;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the second checksum byte
+uint8_t nmeaChecksumByte2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->nmeaLength = parse->length;
+//  parse->state = nmeaLineTermination;
+  parse->state = nmeaCarriageReturn;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the first checksum byte
+uint8_t nmeaChecksumByte1(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = nmeaChecksumByte2;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the message data
+uint8_t nmeaFindAsterisk(PARSE_STATE * parse, uint8_t data)
+{
+  if (data != '*')
+    parse->crc ^= data;
+  else
+    parse->state = nmeaChecksumByte1;
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the message name
+uint8_t nmeaFindFirstComma(PARSE_STATE * parse, uint8_t data)
+{
+  parse->crc ^= data;
+  if ((data != ',') || (parse->nmeaMessageNameLength == 0))
+  {
+    if ((data < 'A') || (data > 'Z'))
+    {
+      //Display the invalid data
+      dumpBuffer(parse->buffer, parse->length - 1);
+      printf ("    %s Invalid NMEA data, %d bytes\r\n",
+                   parse->parserName, parse->length - 1);
+
+      parse->buffer[0] = data;
+      parse->crc = 0;
+      parse->length = 1;
+      return waitForPreamble (parse, data);
+    }
+
+    //Save the message name
+    parse->nmeaMessageName[parse->nmeaMessageNameLength++] = data;
+  }
+  else
+  {
+    //Zero terminate the message name
+    parse->nmeaMessageName[parse->nmeaMessageNameLength++] = 0;
+    parse->state = nmeaFindAsterisk;
+  }
+  return SENTENCE_TYPE_NMEA;
+}
+
+//Read the CRC
+uint8_t rtcmReadCrc(PARSE_STATE * parse, uint8_t data)
+{
+  uint16_t dataSent;
+
+  //Account for this data byte
+  parse->bytesRemaining -= 1;
+
+  //Wait until all the data is received
+  if (parse->bytesRemaining > 0)
+    return SENTENCE_TYPE_RTCM;
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Display the RTCM messages with bad CRC
+  parse->crc &= 0x00ffffff;
+  if (parse->crc)
+  {
+    rtcm_crc_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s RTCM %d, %2d bytes, bad CRC, expecting 0x%02x%02x%02x, computed: 0x%06x\r\n",
+                   parse->parserName,
+                   parse->message,
+                   parse->length,
+                   parse->buffer[parse->length-3],
+                   parse->buffer[parse->length-2],
+                   parse->buffer[parse->length-1],
+                   parse->rtcmCrc);
+  }
+
+  //Process the message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_RTCM);
+
+  //Search for another preamble byte
+  parse->length = 0;
+  parse->computeCrc = false;
+  parse->crc = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the rest of the message
+uint8_t rtcmReadData(PARSE_STATE * parse, uint8_t data)
+{
+  uint16_t dataSent;
+
+  //Account for this data byte
+  parse->bytesRemaining -= 1;
+
+  //Wait until all the data is received
+  if (parse->bytesRemaining <= 0)
+  {
+    parse->rtcmCrc = parse->crc & 0x00ffffff;
+    parse->bytesRemaining = 3;
+    parse->state = rtcmReadCrc;
+  }
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the lower 4 bits of the message number
+uint8_t rtcmReadMessage2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->message |= data >> 4;
+  parse->bytesRemaining -= 1;
+  parse->state = rtcmReadData;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the upper 8 bits of the message number
+uint8_t rtcmReadMessage1(PARSE_STATE * parse, uint8_t data)
+{
+  parse->message = data << 4;
+  parse->bytesRemaining -= 1;
+  parse->state = rtcmReadMessage2;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the lower 8 bits of the length
+uint8_t rtcmReadLength2(PARSE_STATE * parse, uint8_t data)
+{
+  parse->bytesRemaining |= data;
+  parse->state = rtcmReadMessage1;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the upper two bits of the length
+uint8_t rtcmReadLength1(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify the length byte
+  if (data & (~3))
+  {
+    //Display the invalid data
+    dumpBuffer(parse->buffer, parse->length - 1);
+    printf ("    %s Invalid RTCM data, %d bytes\r\n", parse->parserName, parse->length - 1);
+
+    //Invalid length, place this byte at the beginning of the buffer
+    parse->buffer[0] = data;
+    parse->length = 1;
+    parse->computeCrc = false;
+    parse->crc = 0;
+
+    //Start searching for a preamble byte
+    return waitForPreamble(parse, data);
+  }
+
+  //Save the upper 2 bits of the length
+  parse->bytesRemaining = data << 8;
+  parse->state = rtcmReadLength2;
+  return SENTENCE_TYPE_RTCM;
+}
+
+//Read the CK_B byte
+uint8_t ubloxCkB(PARSE_STATE * parse, uint8_t data)
+{
+  bool badChecksum;
+
+  //Update the maximum message length
+  if (parse->length > parse->maxLength)
+  {
+    parse->maxLength = parse->length;
+    printf("maxLength: %d bytes\r\n", parse->maxLength);
+  }
+
+  //Validate the checksum
+  badChecksum = ((parse->buffer[parse->length - 2] != parse->ck_a)
+              || (parse->buffer[parse->length - 1] != parse->ck_b));
+  if (badChecksum)
+  {
+    ubx_checksum_errors += 1;
+    dumpBuffer(parse->buffer, parse->length);
+    printf ("    %s U-Blox %d.%d, %2d bytes, bad checksum, expecting 0x%02x%02x, computed: 0x%02x%02x\r\n",
+                   parse->parserName,
+                   parse->message >> 8,
+                   parse->message & 0xff,
+                   parse->length,
+                   parse->buffer[parse->nmeaLength-2],
+                   parse->buffer[parse->nmeaLength-1],
+                   parse->ck_a,
+                   parse->ck_b);
+  }
+
+  //Process this message
+  parse->state = waitForPreamble;
+  parse->eomCallback(parse, SENTENCE_TYPE_UBX);
+
+  //Search for the next preamble byte
+  parse->length = 0;
+  parse->crc = 0;
+  parse->ck_a = 0;
+  parse->ck_b = 0;
+  return SENTENCE_TYPE_NONE;
+}
+
+//Read the CK_A byte
+uint8_t ubloxCkA(PARSE_STATE * parse, uint8_t data)
+{
+  parse->state = ubloxCkB;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the payload
+uint8_t ubloxPayload(PARSE_STATE * parse, uint8_t data)
+{
+  //Compute the checksum over the payload
+  if (parse->bytesRemaining--)
+  {
+    //Calculate the checksum
+    parse->ck_a += data;
+    parse->ck_b += parse->ck_a;
+    return SENTENCE_TYPE_UBX;
+  }
+  return ubloxCkA(parse, data);
+}
+
+//Read the second length byte
+uint8_t ubloxLength2(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the second length byte
+  parse->bytesRemaining |= ((uint16_t)data) << 8;
+  parse->state = ubloxPayload;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the first length byte
+uint8_t ubloxLength1(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the first length byte
+  parse->bytesRemaining = data;
+  parse->state = ubloxLength2;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the ID byte
+uint8_t ubloxId(PARSE_STATE * parse, uint8_t data)
+{
+  //Calculate the checksum
+  parse->ck_a += data;
+  parse->ck_b += parse->ck_a;
+
+  //Save the ID as the lower 8-bits of the message
+  parse->message |= data;
+  parse->state = ubloxLength1;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the class byte
+uint8_t ubloxClass(PARSE_STATE * parse, uint8_t data)
+{
+  //Start the checksum calculation
+  parse->ck_a = data;
+  parse->ck_b = data;
+
+  //Save the class as the upper 8-bits of the message
+  parse->message = ((uint16_t)data) << 8;
+  parse->state = ubloxId;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Read the second sync byte
+uint8_t ubloxSync2(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify the sync 2 byte
+  if (data != 0x62)
+  {
+    //Display the invalid data
+    dumpBuffer(parse->buffer, parse->length - 1);
+    printf ("    %s Invalid UBX data, %d bytes\r\n", parse->parserName, parse->length - 1);
+
+    //Invalid sync 2 byte, place this byte at the beginning of the buffer
+    parse->length = 0;
+    parse->buffer[parse->length++] = data;
+
+    //Start searching for a preamble byte
+    return waitForPreamble(parse, data);
+  }
+
+  parse->state = ubloxClass;
+  return SENTENCE_TYPE_UBX;
+}
+
+//Wait for the preamble byte (0xd3)
+uint8_t waitForPreamble(PARSE_STATE * parse, uint8_t data)
+{
+  //Verify that this is the preamble byte
+  offset = file_offset;
+  switch(data)
+  {
+  case '$':
+
+    //
+    //    NMEA Message
+    //
+    //    +----------+---------+--------+---------+----------+----------+
+    //    | Preamble |  Name   | Comma  |  Data   | Asterisk | Checksum |
+    //    |  8 bits  | n bytes | 8 bits | n bytes |  8 bits  | 2 bytes  |
+    //    |     $    |         |    ,   |         |          |          |
+    //    +----------+---------+--------+---------+----------+----------+
+    //    |                                                  |
+    //    |<------------------- Checksum ------------------->|
+    //
+
+    parse->crc = 0;
+    parse->computeCrc = false;
+    parse->nmeaMessageNameLength = 0;
+    parse->state = nmeaFindFirstComma;
+    return SENTENCE_TYPE_NMEA;
+
+  case 0xb5:
+
+    //
+    //    U-BLOX Message
+    //
+    //    |<-- Preamble --->|
+    //    |                 |
+    //    +--------+--------+---------+--------+---------+---------+--------+--------+
+    //    |  SYNC  |  SYNC  |  Class  |   ID   | Length  | Payload |  CK_A  |  CK_B  |
+    //    | 8 bits | 8 bits |  8 bits | 8 bits | 2 bytes | n bytes | 8 bits | 8 bits |
+    //    |  0xb5  |  0x62  |         |        |         |         |        |        |
+    //    +--------+--------+---------+--------+---------+---------+--------+--------+
+    //                      |                                      |
+    //                      |<------------- Checksum ------------->|
+    //
+    //  8-Bit Fletcher Algorithm, which is used in the TCP standard (RFC 1145)
+    //  http://www.ietf.org/rfc/rfc1145.txt
+    //  Checksum calculation
+    //      Initialization: CK_A = CK_B = 0
+    //      CK_A += data
+    //      CK_B += CK_A
+    //
+
+    parse->state = ubloxSync2;
+    return SENTENCE_TYPE_UBX;
+
+  case 0xd3:
+
+    //
+    //    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 -------------------------------->|
+    //
+
+    //Start the CRC with this byte
+    parse->crc = 0;
+    parse->crc = COMPUTE_CRC24Q(parse, data);
+    parse->computeCrc = true;
+
+    //Get the message length
+    parse->state = rtcmReadLength1;
+    return SENTENCE_TYPE_RTCM;
+  }
+
+  //preamble byte not found
+  dumpBuffer(parse->buffer, parse->length);
+  printf ("    %s invalid byte 0x%02x\r\n", parse->parserName, data);
+  parse->length = 0;
+  parse->state = waitForPreamble;
+  return SENTENCE_TYPE_NONE;
+}
+
+int
+main (
+    int argc,
+    char ** argv
+    )
+{
+    int bit;
+    unsigned char * data;
+    unsigned char * data_end;
+    int file;
+    char * filename;
+    off_t file_size;
+    int index;
+    int length;
+    int message_number;
+    int message_type;
+    static PARSE_STATE parse;
+    int total;
+    uint8_t value;
+
+    // Initialize the parser
+    parse.state = waitForPreamble;
+    parse.eomCallback = processMessage;
+    parse.parserName = "Tx";
+
+    // Open the log file
+    filename = argv[1];
+    file = open (filename, O_RDONLY);
+    if (file < 0) {
+        perror ("ERROR - Failed to open the file");
+        return -1;
+    }
+
+    // Determine the file length
+    file_size = lseek (file, 0, SEEK_END);
+
+    // Get the file buffer
+    file_data = malloc (file_size);
+    if (!file_data) {
+        fprintf (stderr, "ERROR - Failed to allocate file buffer!\n");
+        return -2;
+    }
+
+    // Read the file into memory
+    lseek (file, 0, SEEK_SET);
+    if (read (file, file_data, file_size) != file_size) {
+        fprintf (stderr, "ERROR - Failed to read the file into memory!\n");
+    }
+
+    // Close the file
+    close (file);
+
+    // Skip the first byte to force unaligned start
+    data = file_data;
+    data_end = &data[file_size];
+    while (data < data_end) {
+        file_offset = data - file_data;
+
+        //Save the data byte
+        value = *data;
+        parse.buffer[parse.length++] = value;
+
+        //Compute the CRC value for the message
+        if (parse.computeCrc)
+            parse.crc = COMPUTE_CRC24Q(&parse, value);
+
+        //Parse this message
+        parse.state(&parse, value);
+        data++;
+    }
+
+    // Display the checksum and CRC errors
+    if (nmea_checksum_errors)
+        printf ("    Total NMEA checksum errors: %d\n", nmea_checksum_errors);
+    if (rtcm_crc_errors)
+        printf ("    Total RTCM message CRC errors: %d\n", rtcm_crc_errors);
+    if (ubx_checksum_errors)
+        printf ("    Total UBX message checksum errors: %d\n", ubx_checksum_errors);
+
+    // Display the NMEA message list
+    if (DISPLAY_NMEA_MESSAGES) {
+        printf ("NMEA Message List:\n");
+        NMEA_MESSAGE * message = nmea_list;
+        while (message) {
+            printf ("    %s: %d %s, max length: %d bytes\n", message->message, message->count,
+                    (message->count == 1) ? "time" : "times", message->max_length);
+            message = message->next;
+        }
+    }
+
+    // Display the RTCM message type list
+    if (DISPLAY_RTCM_MESSAGE_LIST) {
+        printf ("RTCM Message List:\n");
+        for (index = 0; index < (int)(sizeof(rtcm_messages) / sizeof(rtcm_messages[0])); index++) {
+            if (rtcm_messages[index])
+                for (bit = 0; bit < 32; bit++) {
+                    message_number = (index << 5) | bit;
+                    if (rtcm_messages[index] & (1 << bit))
+                        printf ("    %d (%02x %xx): %d %s, max length: %d bytes\n", message_number,
+                                message_number >> 4, message_number & 0xf,
+                                rtcm_message_count[message_number],
+                                (rtcm_message_count[message_number] == 1) ? "time" : "times",
+                                rtcm_max_message_length[message_number]);
+                }
+        }
+    }
+
+    // Display the UBX message type list
+    if (DISPLAY_UBX_MESSAGE_LIST) {
+        printf ("UBX Message List:\n");
+        for (index = 0; index < (int)(sizeof(ubx_messages) / sizeof(ubx_messages[0])); index++) {
+            if (ubx_messages[index])
+                for (bit = 0; bit < 32; bit++) {
+                    message_number = (index << 5) | bit;
+                    if (ubx_messages[index] & (1 << bit))
+                        printf ("    %d.%d (0x%02x.%02x): %d %s, max length: %d bytes\n",
+                                message_number >> 8, message_number & 0xff,
+                                message_number >> 8, message_number & 0xff,
+                                ubx_message_count[message_number],
+                                (ubx_message_count[message_number] == 1) ? "time" : "times",
+                                ubx_max_message_length[message_number]);
+                }
+        }
+    }
+
+    // Display the bad characters
+    if (DISPLAY_BAD_CHARACTERS) {
+        printf ("Bad characters:\n");
+        total = 0;
+        for (index = 0; index < 256; index++) {
+            if (bad_characters[index >> 5] & (1 << (index & 0x1f))) {
+                printf ("    0x%02x: %d\n", index, bad_character_count[index]);
+                total += bad_character_count[index];
+            }
+        }
+        printf ("    Total: %d\n", total);
+    }
+
+    // Display the bad character offsets
+    if (DISPLAY_BAD_CHARACTER_OFFSETS) {
+        printf ("Bad character offsets:\n");
+        total = 0;
+        for (index = 0; index <= bad_character_offset_count; index++) {
+            printf ("    0x%08x: %d bytes\n", bad_character_offset[index], bad_character_length[index]);
+            total += bad_character_length[index];
+        }
+        printf ("    Total: %d\n", total);
+    }
+}
diff --git a/C/crc24q.c b/C/crc24q.c
new file mode 100644
index 000000000..c50cb87ba
--- /dev/null
+++ b/C/crc24q.c
@@ -0,0 +1,185 @@
+/*
+ * This is an implementation of the CRC-24Q cyclic redundancy checksum
+ * used by Qualcomm, RTCM104V3, and PGP 6.5.1. According to the RTCM104V3
+ * standard, it uses the error polynomial
+ *
+ *    x^24+ x^23+ x^18+ x^17+ x^14+ x^11+ x^10+ x^7+ x^6+ x^5+ x^4+ x^3+ x+1
+ *
+ * This corresponds to a mask of 0x1864CFB.  For a primer on CRC theory,
+ * including detailed discussion of how and why the error polynomial is
+ * expressed by this mask, see <http://www.ross.net/crc/>.
+ *
+ * 1) It detects all single bit errors per 24-bit code word.
+ * 2) It detects all double bit error combinations in a code word.
+ * 3) It detects any odd number of errors.
+ * 4) It detects any burst error for which the length of the burst is less than
+ *    or equal to 24 bits.
+ * 5) It detects most large error bursts with length greater than 24 bits;
+ *    the odds of a false positive are at most 2^-23.
+ *
+ * This hash should not be considered cryptographically secure, but it
+ * is extremely good at detecting noise errors.
+ *
+ * Note that this version has a seed of 0 wired in.  The RTCM104V3 standard
+ * requires this.
+ *
+ * This file is Copyright 2008 by the GPSD project
+ * SPDX-License-Identifier: BSD-2-clause
+ */
+
+//This file is originally from: https://gitlab.com/gpsd/gpsd/-/blob/master/gpsd/crc24q.c
+
+//#include "../include/gpsd_config.h"  /* must be before all includes */
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+//#include "../include/crc24q.h"
+
+#ifdef REBUILD_CRC_TABLE
+/*
+ * The crc24q code table below can be regenerated with the following code:
+ */
+#include <stdio.h>
+#include <stdlib.h>
+
+#define CRCSEED 0               /* could be NZ to detect leading zeros */
+#define CRCPOLY 0x1864CFBu      /* encodes all info about the polynomial */
+
+static void crc_init(unsigned int table[256])
+{
+    unsigned i, j;
+    unsigned h;
+
+    table[0] = CRCSEED;
+    table[1] = h = CRCPOLY;
+
+    for (i = 2; i < 256; i *= 2) {
+        if ((h <<= 1) & 0x1000000)
+            h ^= CRCPOLY;
+        for (j = 0; j < i; j++)
+            table[i + j] = table[j] ^ h;
+    }
+}
+
+int main(int argc, char *argv[])
+{
+    int i;
+
+    crc_init(table);
+
+    for (i = 0; i < 256; i++) {
+        printf("0x%08X, ", table[i]);
+        if ((i % 4) == 3)
+            putchar('\n');
+    }
+
+    exit(EXIT_SUCCESS);
+}
+#endif
+
+static const int unsigned crc24q[256] = {
+    0x00000000u, 0x01864CFBu, 0x028AD50Du, 0x030C99F6u,
+    0x0493E6E1u, 0x0515AA1Au, 0x061933ECu, 0x079F7F17u,
+    0x08A18139u, 0x0927CDC2u, 0x0A2B5434u, 0x0BAD18CFu,
+    0x0C3267D8u, 0x0DB42B23u, 0x0EB8B2D5u, 0x0F3EFE2Eu,
+    0x10C54E89u, 0x11430272u, 0x124F9B84u, 0x13C9D77Fu,
+    0x1456A868u, 0x15D0E493u, 0x16DC7D65u, 0x175A319Eu,
+    0x1864CFB0u, 0x19E2834Bu, 0x1AEE1ABDu, 0x1B685646u,
+    0x1CF72951u, 0x1D7165AAu, 0x1E7DFC5Cu, 0x1FFBB0A7u,
+    0x200CD1E9u, 0x218A9D12u, 0x228604E4u, 0x2300481Fu,
+    0x249F3708u, 0x25197BF3u, 0x2615E205u, 0x2793AEFEu,
+    0x28AD50D0u, 0x292B1C2Bu, 0x2A2785DDu, 0x2BA1C926u,
+    0x2C3EB631u, 0x2DB8FACAu, 0x2EB4633Cu, 0x2F322FC7u,
+    0x30C99F60u, 0x314FD39Bu, 0x32434A6Du, 0x33C50696u,
+    0x345A7981u, 0x35DC357Au, 0x36D0AC8Cu, 0x3756E077u,
+    0x38681E59u, 0x39EE52A2u, 0x3AE2CB54u, 0x3B6487AFu,
+    0x3CFBF8B8u, 0x3D7DB443u, 0x3E712DB5u, 0x3FF7614Eu,
+    0x4019A3D2u, 0x419FEF29u, 0x429376DFu, 0x43153A24u,
+    0x448A4533u, 0x450C09C8u, 0x4600903Eu, 0x4786DCC5u,
+    0x48B822EBu, 0x493E6E10u, 0x4A32F7E6u, 0x4BB4BB1Du,
+    0x4C2BC40Au, 0x4DAD88F1u, 0x4EA11107u, 0x4F275DFCu,
+    0x50DCED5Bu, 0x515AA1A0u, 0x52563856u, 0x53D074ADu,
+    0x544F0BBAu, 0x55C94741u, 0x56C5DEB7u, 0x5743924Cu,
+    0x587D6C62u, 0x59FB2099u, 0x5AF7B96Fu, 0x5B71F594u,
+    0x5CEE8A83u, 0x5D68C678u, 0x5E645F8Eu, 0x5FE21375u,
+    0x6015723Bu, 0x61933EC0u, 0x629FA736u, 0x6319EBCDu,
+    0x648694DAu, 0x6500D821u, 0x660C41D7u, 0x678A0D2Cu,
+    0x68B4F302u, 0x6932BFF9u, 0x6A3E260Fu, 0x6BB86AF4u,
+    0x6C2715E3u, 0x6DA15918u, 0x6EADC0EEu, 0x6F2B8C15u,
+    0x70D03CB2u, 0x71567049u, 0x725AE9BFu, 0x73DCA544u,
+    0x7443DA53u, 0x75C596A8u, 0x76C90F5Eu, 0x774F43A5u,
+    0x7871BD8Bu, 0x79F7F170u, 0x7AFB6886u, 0x7B7D247Du,
+    0x7CE25B6Au, 0x7D641791u, 0x7E688E67u, 0x7FEEC29Cu,
+    0x803347A4u, 0x81B50B5Fu, 0x82B992A9u, 0x833FDE52u,
+    0x84A0A145u, 0x8526EDBEu, 0x862A7448u, 0x87AC38B3u,
+    0x8892C69Du, 0x89148A66u, 0x8A181390u, 0x8B9E5F6Bu,
+    0x8C01207Cu, 0x8D876C87u, 0x8E8BF571u, 0x8F0DB98Au,
+    0x90F6092Du, 0x917045D6u, 0x927CDC20u, 0x93FA90DBu,
+    0x9465EFCCu, 0x95E3A337u, 0x96EF3AC1u, 0x9769763Au,
+    0x98578814u, 0x99D1C4EFu, 0x9ADD5D19u, 0x9B5B11E2u,
+    0x9CC46EF5u, 0x9D42220Eu, 0x9E4EBBF8u, 0x9FC8F703u,
+    0xA03F964Du, 0xA1B9DAB6u, 0xA2B54340u, 0xA3330FBBu,
+    0xA4AC70ACu, 0xA52A3C57u, 0xA626A5A1u, 0xA7A0E95Au,
+    0xA89E1774u, 0xA9185B8Fu, 0xAA14C279u, 0xAB928E82u,
+    0xAC0DF195u, 0xAD8BBD6Eu, 0xAE872498u, 0xAF016863u,
+    0xB0FAD8C4u, 0xB17C943Fu, 0xB2700DC9u, 0xB3F64132u,
+    0xB4693E25u, 0xB5EF72DEu, 0xB6E3EB28u, 0xB765A7D3u,
+    0xB85B59FDu, 0xB9DD1506u, 0xBAD18CF0u, 0xBB57C00Bu,
+    0xBCC8BF1Cu, 0xBD4EF3E7u, 0xBE426A11u, 0xBFC426EAu,
+    0xC02AE476u, 0xC1ACA88Du, 0xC2A0317Bu, 0xC3267D80u,
+    0xC4B90297u, 0xC53F4E6Cu, 0xC633D79Au, 0xC7B59B61u,
+    0xC88B654Fu, 0xC90D29B4u, 0xCA01B042u, 0xCB87FCB9u,
+    0xCC1883AEu, 0xCD9ECF55u, 0xCE9256A3u, 0xCF141A58u,
+    0xD0EFAAFFu, 0xD169E604u, 0xD2657FF2u, 0xD3E33309u,
+    0xD47C4C1Eu, 0xD5FA00E5u, 0xD6F69913u, 0xD770D5E8u,
+    0xD84E2BC6u, 0xD9C8673Du, 0xDAC4FECBu, 0xDB42B230u,
+    0xDCDDCD27u, 0xDD5B81DCu, 0xDE57182Au, 0xDFD154D1u,
+    0xE026359Fu, 0xE1A07964u, 0xE2ACE092u, 0xE32AAC69u,
+    0xE4B5D37Eu, 0xE5339F85u, 0xE63F0673u, 0xE7B94A88u,
+    0xE887B4A6u, 0xE901F85Du, 0xEA0D61ABu, 0xEB8B2D50u,
+    0xEC145247u, 0xED921EBCu, 0xEE9E874Au, 0xEF18CBB1u,
+    0xF0E37B16u, 0xF16537EDu, 0xF269AE1Bu, 0xF3EFE2E0u,
+    0xF4709DF7u, 0xF5F6D10Cu, 0xF6FA48FAu, 0xF77C0401u,
+    0xF842FA2Fu, 0xF9C4B6D4u, 0xFAC82F22u, 0xFB4E63D9u,
+    0xFCD11CCEu, 0xFD575035u, 0xFE5BC9C3u, 0xFFDD8538u,
+};
+
+unsigned crc24q_hash(unsigned char *data, int len)
+{
+    int i;
+    unsigned crc = 0;
+
+    for (i = 0; i < len; i++) {
+        crc = (crc << 8) ^ crc24q[data[i] ^ (unsigned char)(crc >> 16)];
+    }
+
+    crc = (crc & 0x00ffffff);
+
+    return crc;
+}
+
+#define LO(x)   (unsigned char)((x) & 0xff)
+#define MID(x)  (unsigned char)(((x) >> 8) & 0xff)
+#define HI(x)   (unsigned char)(((x) >> 16) & 0xff)
+
+#ifdef __UNUSED__
+void crc24q_sign(unsigned char *data, int len)
+{
+    unsigned crc = crc24q_hash(data, len);
+
+    data[len] = HI(crc);
+    data[len + 1] = MID(crc);
+    data[len + 2] = LO(crc);
+}
+#endif /* __UNUSED__ */
+
+bool crc24q_check(unsigned char *data, int len)
+{
+    unsigned crc = crc24q_hash(data, len - 3);
+
+    return (((data[len - 3] == HI(crc)) &&
+             (data[len - 2] == MID(crc)) && (data[len - 1] == LO(crc))));
+}
+// vim: set expandtab shiftwidth=4
diff --git a/C/crc24q.h b/C/crc24q.h
new file mode 100644
index 000000000..66972e602
--- /dev/null
+++ b/C/crc24q.h
@@ -0,0 +1,20 @@
+/* Interface for CRC-24Q cyclic redundancy chercksum code
+ *
+ * This file is Copyright 2010 by the GPSD project
+ * SPDX-License-Identifier: BSD-2-clause
+ */
+
+//This file is originally from: https://gitlab.com/gpsd/gpsd/-/blob/master/include/crc24q.h
+
+#include <stdbool.h>
+
+#ifndef _CRC24Q_H_
+#define _CRC24Q_H_
+
+extern void crc24q_sign(unsigned char *data, int len);
+
+extern bool crc24q_check(unsigned char *data, int len);
+
+extern unsigned crc24q_hash(unsigned char *data, int len);
+#endif /* _CRC24Q_H_ */
+// vim: set expandtab shiftwidth=4
diff --git a/C/makefile b/C/makefile
new file mode 100644
index 000000000..0f457571e
--- /dev/null
+++ b/C/makefile
@@ -0,0 +1,46 @@
+######################################################################
+# makefile
+#
+# Builds the RTK support programs
+######################################################################
+
+##########
+# Source files
+##########
+
+EXECUTABLES  = Compare
+EXECUTABLES += NMEA_Client
+EXECUTABLES += Split_Messages
+
+INCLUDES  = crc24q.h
+
+##########
+# Buid tools and rules
+##########
+
+GCC = gcc
+CFLAGS = -flto -O3 -Wpedantic -pedantic-errors -Wall -Wextra -Werror -Wno-unused-variable -Wno-unused-parameter
+CC = $(GCC) $(CFLAGS)
+
+%.o: %.c $(INCLUDES)
+	$(CC) -c -o $@ $<
+
+%: %.c $(INCLUDES)
+	$(CC) $(CFLAGS) -o $@ $<
+
+##########
+# Buid all the sources - must be first
+##########
+
+.PHONY: all
+
+all: $(EXECUTABLES)
+
+########
+# Clean the build directory
+##########
+
+.PHONY: clean
+
+clean:
+	rm -f *.o *.a $(EXECUTABLES)

From 1176224bde0e2c14bc6bcab046cf82259922021c Mon Sep 17 00:00:00 2001
From: Lee Leahy <lpleahyjr@gmail.com>
Date: Wed, 24 Aug 2022 15:56:34 -1000
Subject: [PATCH 120/134] Add makefile and the Fonts support program

Fonts: Program to draw text diagrams of each character in the font file.
Example:  ./Fonts
Arduino/libraries/SparkFun_Qwiic_OLED_Graphics_Library/src/res/_fnt_5x7.h

Icons: Program to draw text diagrams of each icon in the icon file.
Example:  ./Icons  Firmware/RTK_Surveyor/icons.h

makefile: Build script to build the Fonts and Icons programs.
---
 Graphics/C/Fonts.c  | 349 ++++++++++++++++++++++++++++++++++++++++++++
 Graphics/C/Icons.c  |   8 +-
 Graphics/C/makefile |  43 ++++++
 3 files changed, 396 insertions(+), 4 deletions(-)
 create mode 100644 Graphics/C/Fonts.c
 create mode 100644 Graphics/C/makefile

diff --git a/Graphics/C/Fonts.c b/Graphics/C/Fonts.c
new file mode 100644
index 000000000..eb85dc961
--- /dev/null
+++ b/Graphics/C/Fonts.c
@@ -0,0 +1,349 @@
+#include <fcntl.h>
+#include <malloc.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#define DRAW_OUTLINE    1
+
+typedef struct _CHARACTER_ENTRY {
+    struct _CHARACTER_ENTRY * next;
+    int character;
+    uint8_t data[];
+} CHARACTER_ENTRY;
+
+int bytes_high;
+CHARACTER_ENTRY * character_list;
+int data_bytes;
+char * font_text;
+uint8_t * font_data;
+int height;
+int map_width;
+int nchar;
+int start;
+int width;
+
+int
+read_value (
+    const char * string,
+    const char * text_end
+    )
+{
+    const char * text;
+    int length;
+    int value;
+
+    // Find the map width
+    text = font_text;
+    length = strlen(string);
+    while (text < text_end) {
+        if (strncmp (text, string, length) == 0) {
+            text += length;
+            break;
+        }
+        text++;
+    }
+
+    // Skip over the white space
+    while (text < text_end) {
+        if ((*text != ' ') && (*text != '\t'))
+            break;
+        text++;
+    }
+
+    // Get the map width
+    if (sscanf (text, "%d", &value) != 1) {
+        fprintf (stderr, "ERROR - Invalid map width!\n");
+        return -1;
+    }
+    return value;
+}
+
+const char *
+find_next_character (
+    const char * text,
+    const char * text_end
+    )
+{
+    // Walk through the font file
+    while (text < (text_end - 2)) {
+        // Determine if this is an icon name
+        if ((text[0] == '0') && ((text[1] == 'x') || (text[1] == 'X')))
+            return text;
+        text++;
+    }
+
+    // No more data
+    return NULL;
+}
+
+int
+read_data (
+    const char * text_end
+    )
+{
+    int character_count;
+    const char * text;
+    int data_offset;
+    int index;
+    unsigned int value;
+
+    // Read the data array
+    character_count = 0;
+    text = font_text;
+    while (text < text_end) {
+        for (index = 0; index < data_bytes; index++) {
+
+            // Find the next data value
+            text = find_next_character (text, text_end);
+            if ((text == NULL) && (index == 0))
+                return character_count;
+            else if (text == NULL) {
+                fprintf (stderr, "ERROR - Missing data!\n");
+                return 0;
+            }
+
+            // Get the value
+            if (sscanf (text, "0x%02x", &value) != 1) {
+                fprintf (stderr, "ERROR - Invalid data value!\n");
+                return 0;
+            }
+            text += 4;
+
+            // Save the data value
+            data_offset = (data_bytes * character_count) + index;
+            font_data[data_offset] = value;
+        }
+        character_count++;
+    }
+    return 0;
+}
+
+void
+add_entry (
+    CHARACTER_ENTRY * new_entry
+    )
+{
+    CHARACTER_ENTRY * previous_entry;
+
+    // Walk to the end of the list
+    previous_entry = character_list;
+    while (previous_entry && previous_entry->next)
+        previous_entry = previous_entry->next;
+
+    // Add this entry to the list
+    new_entry->next = NULL;
+    if (previous_entry)
+        previous_entry->next = new_entry;
+    else
+        character_list = new_entry;
+}
+
+int
+process_data (
+    int character_count
+    )
+{
+    int font_index;
+    int index;
+    int map_characters;
+    int map_offset;
+    int next_character;
+    CHARACTER_ENTRY * new_entry;
+    ssize_t offset;
+    unsigned int value;
+    int x;
+    int y;
+
+    next_character = start;
+    map_characters = map_width / width;
+    while ((next_character - start) < character_count) {
+        // Allocate the data structure
+        new_entry = malloc (sizeof(*new_entry) + data_bytes);
+
+        if (!new_entry) {
+            fprintf (stderr, "ERROR - Failed to allocate next_entry!\n");
+            return -1;
+        }
+        new_entry->character = next_character++;
+        map_offset = new_entry->character - start;
+        map_offset = ((map_offset / map_characters) * map_characters * data_bytes)
+                   + ((map_offset % map_characters) * width);
+        for (y = 0; y < bytes_high; y++) {
+            for (x = 0; x < width; x++) {
+
+                // Save the data value
+                font_index = map_offset + (y * map_width) + x;
+                value = font_data[font_index];
+                index = (y * width) + x;
+                new_entry->data[index] = value;
+            }
+        }
+
+        // Add the entry to the list
+        add_entry (new_entry);
+    }
+    return 0;
+}
+
+void
+display_character (
+    CHARACTER_ENTRY * character
+    )
+{
+    int bit;
+    const char * indent = "        ";
+    int x;
+    int y;
+
+    printf ("/*\n");
+    printf ("    0x%02x, %d [%d, %d]\n", character->character, character->character, width, height);
+    printf ("\n");
+#ifdef  DRAW_OUTLINE
+    printf ("%s.", indent);
+    for (x = 0; x < width; x++)
+        printf ("-");
+    printf (".\n");
+#endif  // DRAW_OUTLINE
+    for (y = 0; y < height; y++) {
+        printf ("%s", indent);
+#ifdef  DRAW_OUTLINE
+        printf ("|");
+#endif  // DRAW_OUTLINE
+        for (x = 0; x < width; x++) {
+            bit = character->data[((y >> 3) * width) + x];
+            bit >>= y & 7;
+            printf ("%c", (bit & 1) ? '*' : ' ');
+        }
+#ifdef  DRAW_OUTLINE
+        printf ("|");
+#endif  // DRAW_OUTLINE
+        printf ("\n");
+    }
+#ifdef  DRAW_OUTLINE
+    printf ("%s'", indent);
+    for (x = 0; x < width; x++)
+        printf ("-");
+    printf ("'\n");
+#endif  // DRAW_OUTLINE
+    printf ("*/\n");
+    printf ("\n");
+}
+
+int
+main (
+    int argc,
+    char ** argv
+    )
+{
+    CHARACTER_ENTRY * character;
+    int character_count;
+    const char * text_end;
+    char * filename;
+    int font_file;
+    off_t file_length;
+    int status;
+    ssize_t valid_data;
+
+    do {
+        // Assume failure
+        font_file = -1;
+        status = -1;
+
+        // Verify the argument count
+        if (argc != 2) {
+            fprintf (stderr, "%s  font_fliename\n", argv[0]);
+            break;
+        }
+
+        // Get the font file name
+        filename = argv[1];
+
+        // Open the font file
+        font_file = open (filename, O_RDONLY);
+        if (font_file < 0) {
+            perror("ERROR - File open failed!");
+            break;
+        }
+
+        // Determine the length of the file
+        file_length = lseek (font_file, 0, SEEK_END);
+
+        // Go the the beginning of the file
+        lseek (font_file, 0, SEEK_SET);
+
+        // Allocate the text buffer
+        font_text = malloc (file_length);
+        if (!font_text) {
+            fprintf (stderr, "ERROR - Failed to allocate font text buffer!\n");
+            break;
+        }
+
+        // Fill the text buffer
+        valid_data = read (font_file, font_text, file_length);
+        if (valid_data < 0) {
+            fprintf (stderr, "ERROR - File read failed!\n");
+            break;
+        }
+        text_end = &font_text[valid_data];
+
+        // Find the font values
+        width = read_value ("WIDTH", text_end);
+        if (width < 0) {
+            fprintf (stderr, "ERROR - Failed to read font width!\n");
+        }
+        height = read_value ("HEIGHT", text_end);
+        if (height < 0) {
+            fprintf (stderr, "ERROR - Failed to read font height!\n");
+            break;
+        }
+        start = read_value ("START", text_end);
+        if (start < 0) {
+            fprintf (stderr, "ERROR - Failed to read font start!\n");
+            break;
+        }
+        nchar = read_value ("NCHAR", text_end);
+        if (nchar < 0) {
+            fprintf (stderr, "ERROR - Failed to read font nchar!\n");
+            break;
+        }
+        map_width = read_value ("MAP_WIDTH", text_end);
+        if (map_width < 0) {
+            fprintf (stderr, "ERROR - Failed to read map width!\n");
+            break;
+        }
+        bytes_high = (height + 7) / 8;
+        data_bytes = width * bytes_high;
+
+        // Allocate the data buffer
+        font_data = malloc (sizeof(*font_data) * 256 * data_bytes);
+        if (!font_data) {
+            fprintf (stderr, "ERROR - Failed to allocate font data buffer!\n");
+            break;
+        }
+
+        // Fill the data buffer
+        character_count = read_data (text_end);
+
+        // Process the data
+        if (process_data(character_count))
+            break;
+
+        // Display the characters in the font file
+        character = character_list;
+        while (character) {
+            display_character (character);
+            character = character->next;
+        }
+
+        // Indicate success
+        status = 0;
+    } while (0);
+
+    // Close the file
+    if (font_file >= 0)
+        close(font_file);
+
+    return status;
+}
diff --git a/Graphics/C/Icons.c b/Graphics/C/Icons.c
index d053adee8..b34ca7dcc 100644
--- a/Graphics/C/Icons.c
+++ b/Graphics/C/Icons.c
@@ -47,7 +47,7 @@ terminate_end_of_line (
         text++;
 
     // Skip over the end of line
-    while ((text < text_end) && (*text == '\r') || (*text == '\n'))
+    while ((text < text_end) && ((*text == '\r') || (*text == '\n')))
         *text++ = 0;
 
     // Return the start of the next line
@@ -151,7 +151,7 @@ read_icon_data (
     ICON_ENTRY * icon_entry;
     int index;
     char * number;
-    int value;
+    unsigned int value;
     int x;
     int y;
 
@@ -410,8 +410,8 @@ display_icon (
     }
     for (y = 0; y < icon->height; y++) {
         printf ("%s", indent);
-    if (DRAW_OUTLINE)
-        printf ("0x%02x|", 1 << (y & 7));
+        if (DRAW_OUTLINE)
+            printf ("0x%02x|", 1 << (y & 7));
         for (x = 0; x < icon->width; x++) {
             bit = icon->data[((y >> 3) * icon->bytes_wide) + x];
             bit >>= y & 7;
diff --git a/Graphics/C/makefile b/Graphics/C/makefile
new file mode 100644
index 000000000..8ce498b47
--- /dev/null
+++ b/Graphics/C/makefile
@@ -0,0 +1,43 @@
+######################################################################
+# makefile
+#
+# Builds the RTK support programs
+######################################################################
+
+##########
+# Source files
+##########
+
+EXECUTABLES  = Fonts
+EXECUTABLES += Icons
+
+##########
+# Buid tools and rules
+##########
+
+GCC = gcc
+CFLAGS = -flto -O3 -Wpedantic -pedantic-errors -Wall -Wextra -Werror -Wno-unused-variable -Wno-unused-parameter
+CC = $(GCC) $(CFLAGS)
+
+%.o: %.c $(INCLUDES)
+	$(CC) -c -o $@ $<
+
+%: %.c $(INCLUDES)
+	$(CC) $(CFLAGS) -o $@ $<
+
+##########
+# Buid all the sources - must be first
+##########
+
+.PHONY: all
+
+all: $(EXECUTABLES)
+
+########
+# Clean the build directory
+##########
+
+.PHONY: clean
+
+clean:
+	rm -f *.o *.a $(EXECUTABLES)

From 668fbccaf2fc10b327ae16c631119ecca90f2174 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 10:27:33 -0600
Subject: [PATCH 121/134] Fix PR #295 BT MAC overrun

Reduce MAC printing from four characters to two characters
---
 Firmware/RTK_Surveyor/Display.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index f875f6332..7ab2b15d4 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -362,7 +362,7 @@ void updateDisplay()
         const uint8_t * rtkMacAddress = getMacAddress();
 
         //Print only last two digits of MAC
-        sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
+        sprintf(macAddress, "%02X", rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(0, 3);
         oled.print(macAddress);
@@ -406,7 +406,7 @@ void updateDisplay()
         const uint8_t * rtkMacAddress = getMacAddress();
 
         //Print only last two digits of MAC
-        sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
+        sprintf(macAddress, "%02X", rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(14, 3);
         oled.print(macAddress);

From fe60d9416c306c1439f825d39fc9f14062511660 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 10:27:43 -0600
Subject: [PATCH 122/134] Change WiFi prints to log_d

---
 Firmware/RTK_Surveyor/WiFi.ino | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 056c0b806..b2e8ec439 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -254,7 +254,7 @@ void wifiStop()
   {
     wifiSetState(WIFI_OFF);
     WiFi.mode(WIFI_OFF);
-    Serial.println("WiFi Stopped");
+    log_d("WiFi Stopped");
   }
   //If ESP-Now is active, change protocol to only Long Range
   else if (espnowState > ESPNOW_OFF)
@@ -266,13 +266,13 @@ void wifiStop()
 
     WiFi.mode(WIFI_STA);
 
-    Serial.println("WiFi disabled, ESP-Now left in place");
+    log_d("WiFi disabled, ESP-Now left in place");
   }
 #else
   //Turn off radio
   wifiSetState(WIFI_OFF);
   WiFi.mode(WIFI_OFF);
-  Serial.println("WiFi Stopped");
+  log_d("WiFi Stopped");
 #endif
 
   //Display the heap state

From c2c8a8736ff12f185095082f7b02ed7b37a0440f Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 11:27:15 -0600
Subject: [PATCH 123/134] Add compile guards to getMacAddress

---
 Firmware/RTK_Surveyor/Display.ino | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 7ab2b15d4..fcd4e6241 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -2544,13 +2544,17 @@ void paintEspNowPaired()
   displayMessage("ESP-Now Paired", 2000);
 }
 
-const uint8_t * getMacAddress ()
+const uint8_t * getMacAddress()
 {
   static const uint8_t zero[6] = {0, 0, 0, 0, 0, 0};
 
+#ifdef  COMPILE_BT
   if (bluetoothState != BT_OFF)
     return btMACAddress;
+#ifdef COMPILE_WIFI
   else if (wifiState != WIFI_OFF)
     return wifiMACAddress;
+#endif
+#endif
   return zero;
 }

From f769d56a7393d7e2ab5340699d7aa3d986fe4512 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 11:27:48 -0600
Subject: [PATCH 124/134] Increase first reconnect timeout to 15s

Emlid needs more time between port closures otherwise it complains mountpoint is already taken.
---
 Firmware/RTK_Surveyor/NtripServer.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 278959f88..192c56817 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -309,7 +309,7 @@ void ntripServerStop(bool wifiClientAllocated)
     wifiStop();
 
     ntripServerLastConnectionAttempt = millis(); //Mark the Server stop so that we don't immediately attempt re-connect to Caster
-    ntripServerConnectionAttemptTimeout = 5 * 1000L; //Wait 5s between stopping and the first re-connection attempt
+    ntripServerConnectionAttemptTimeout = 15 * 1000L; //Wait 15s between stopping and the first re-connection attempt. 5 is too short for Emlid.
   }
 
   //Determine the next NTRIP server state

From 6b5eb47c31b4e98cbed25e99ef9b2c2c992724ea Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 11:54:12 -0600
Subject: [PATCH 125/134] Fix four character BT printing

---
 Firmware/RTK_Surveyor/Display.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index fcd4e6241..0b9716c53 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -361,8 +361,8 @@ void updateDisplay()
         char macAddress[5];
         const uint8_t * rtkMacAddress = getMacAddress();
 
-        //Print only last two digits of MAC
-        sprintf(macAddress, "%02X", rtkMacAddress[5]);
+        //Print four characters of MAC
+        sprintf(macAddress, "%02%02X", rtkMacAddress[4], rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(0, 3);
         oled.print(macAddress);

From 9e5b37da347a4dad3981dd102ef2d8577215f3e8 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Thu, 25 Aug 2022 11:54:43 -0600
Subject: [PATCH 126/134] Return PointPerfect cert arrays to global

Until we can figure out why malloc is not working.
---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 6 ++++--
 Firmware/RTK_Surveyor/menuPP.ino       | 8 ++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 3149f6585..97494787e 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -159,8 +159,10 @@ LoggingType loggingType = LOGGING_UNKNOWN;
 
 #endif
 
-char *certificateContents; //Holds the contents of the keys prior to MQTT connection
-char *keyContents;
+//char *certificateContents; //Holds the contents of the keys prior to MQTT connection
+//char *keyContents;
+char certificateContents[2000]; //Holds the contents of the keys prior to MQTT connection
+char keyContents[2000];
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //GNSS configuration
diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index 53d0c0dab..276f8c4da 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -286,13 +286,13 @@ bool updatePointPerfectKeys()
 
 #define CONTENT_SIZE 2000
 
-  certificateContents = (char*)malloc(CONTENT_SIZE);
-  memset(certificateContents, 0, CONTENT_SIZE);
+  //certificateContents = (char*)malloc(CONTENT_SIZE);
+  //memset(certificateContents, 0, CONTENT_SIZE);
   loadFile("certificate", certificateContents);
   secureClient.setCertificate(certificateContents);
 
-  keyContents = (char*)malloc(CONTENT_SIZE);
-  memset(keyContents, 0, CONTENT_SIZE);
+  //keyContents = (char*)malloc(CONTENT_SIZE);
+  //memset(keyContents, 0, CONTENT_SIZE);
   loadFile("privateKey", keyContents);
   secureClient.setPrivateKey(keyContents);
 

From 7f8903c199e32c1311f9830e08e43ddaa9f73da2 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 26 Aug 2022 09:06:05 -0600
Subject: [PATCH 127/134] Fix MAC print typo

---
 Firmware/RTK_Surveyor/Display.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
index 0b9716c53..d47e13a22 100644
--- a/Firmware/RTK_Surveyor/Display.ino
+++ b/Firmware/RTK_Surveyor/Display.ino
@@ -362,7 +362,7 @@ void updateDisplay()
         const uint8_t * rtkMacAddress = getMacAddress();
 
         //Print four characters of MAC
-        sprintf(macAddress, "%02%02X", rtkMacAddress[4], rtkMacAddress[5]);
+        sprintf(macAddress, "%02X%02X", rtkMacAddress[4], rtkMacAddress[5]);
         oled.setFont(QW_FONT_5X7); //Set font to smallest
         oled.setCursor(0, 3);
         oled.print(macAddress);

From 082ec69965791da50cf3a205d4015630994274ad Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 26 Aug 2022 09:06:43 -0600
Subject: [PATCH 128/134] Remove free() when using static certificate arrays

---
 Firmware/RTK_Surveyor/menuPP.ino | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index 276f8c4da..b19e1836d 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -322,8 +322,8 @@ bool updatePointPerfectKeys()
       if (tries++ == maxTries)
       {
         log_d("MQTT failed to connect");
-        free(certificateContents);
-        free(keyContents);
+        //free(certificateContents);
+        //free(keyContents);
         return (false);
       }
 
@@ -344,8 +344,8 @@ bool updatePointPerfectKeys()
     if (mqttClient.connected() == false)
     {
       log_d("Client disconnected");
-      free(certificateContents);
-      free(keyContents);
+      //free(certificateContents);
+      //free(keyContents);
       return (false);
     }
 
@@ -355,16 +355,16 @@ bool updatePointPerfectKeys()
     {
       Serial.println();
       log_d("Channel failed to respond");
-      free(certificateContents);
-      free(keyContents);
+      //free(certificateContents);
+      //free(keyContents);
       return (false);
     }
   }
 
   Serial.println();
   Serial.println("Keys successfully updated");
-  free(certificateContents);
-  free(keyContents);
+  //free(certificateContents);
+  //free(keyContents);
   return (true);
 #else
   return (false);

From c6f9eb15af5e2f10a9a018285510f2e8a337f351 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 26 Aug 2022 09:07:11 -0600
Subject: [PATCH 129/134] Prevent PP key update if SSID is empty

---
 Firmware/RTK_Surveyor/menuPP.ino | 60 +++++++++++++++++++-------------
 1 file changed, 36 insertions(+), 24 deletions(-)

diff --git a/Firmware/RTK_Surveyor/menuPP.ino b/Firmware/RTK_Surveyor/menuPP.ino
index b19e1836d..0f04dcfca 100644
--- a/Firmware/RTK_Surveyor/menuPP.ino
+++ b/Firmware/RTK_Surveyor/menuPP.ino
@@ -940,39 +940,51 @@ void menuPointPerfect()
     else if (incoming == '5')
     {
 #ifdef COMPILE_WIFI
-      wifiStart(settings.home_wifiSSID, settings.home_wifiPW);
-
-      unsigned long startTime = millis();
-      while (wifiGetStatus() != WL_CONNECTED)
+      if (strlen(settings.home_wifiSSID) == 0)
       {
-        delay(500);
-        Serial.print(".");
-        if (millis() - startTime > 8000) break; //Give up after 8 seconds
+        Serial.println("Error: Please enter SSID before getting keys");
       }
-
-      if (wifiGetStatus() == WL_CONNECTED)
+      else
       {
+        wifiStart(settings.home_wifiSSID, settings.home_wifiPW);
 
-        Serial.println();
-        Serial.print("WiFi connected: ");
-        Serial.println(wifiGetIpAddress());
-
-        //Check if we have certificates
-        char fileName[80];
-        sprintf(fileName, "/%s_%s_%d.txt", platformFilePrefix, "certificate", profileNumber);
-        if (LittleFS.exists(fileName) == false)
+        unsigned long startTime = millis();
+        while (wifiGetStatus() != WL_CONNECTED)
         {
-          provisionDevice(); //Connect to ThingStream API and get keys
+          delay(500);
+          Serial.print(".");
+          if (millis() - startTime > 15000) 
+          {
+            Serial.println("Error: No WiFi available");
+            break;
+          }
         }
-        else if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
+
+        if (wifiGetStatus() == WL_CONNECTED)
         {
-          provisionDevice(); //Connect to ThingStream API and get keys
-        }
-        else
-          updatePointPerfectKeys();
 
+          Serial.println();
+          Serial.print("WiFi connected: ");
+          Serial.println(wifiGetIpAddress());
+
+          //Check if we have certificates
+          char fileName[80];
+          sprintf(fileName, "/%s_%s_%d.txt", platformFilePrefix, "certificate", profileNumber);
+          if (LittleFS.exists(fileName) == false)
+          {
+            provisionDevice(); //Connect to ThingStream API and get keys
+          }
+          else if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectLBandTopic) == 0)
+          {
+            provisionDevice(); //Connect to ThingStream API and get keys
+          }
+          else
+            updatePointPerfectKeys();
+
+        }
+        
         wifiStop();
-      }
+      } //End strlen SSID check
 #endif
     }
     else if (incoming == '6')

From f191b76c5cb20e31e16f594de7e648c4afa17071 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 26 Aug 2022 09:07:42 -0600
Subject: [PATCH 130/134] Move connection timeout countdowns to printfs

---
 Firmware/RTK_Surveyor/NtripServer.ino | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index 192c56817..42ab6825b 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -73,6 +73,7 @@ static int ntripServerConnectionAttempts;
 //Throttle the time between connection attempts
 static int ntripServerConnectionAttemptTimeout = 0;
 static uint32_t ntripServerLastConnectionAttempt = 0;
+static uint32_t ntripServerTimeoutPrint = 0;
 
 //Last time the NTRIP server state was displayed
 static uint32_t ntripServerStateLastDisplayed = 0;
@@ -351,10 +352,10 @@ void ntripServerUpdate()
       }
       else
       {
-        if (millis() - startTime > 1000)
+        if (millis() - ntripServerTimeoutPrint > 1000)
         {
-          startTime = millis();
-          log_d("NTRIP Server connection timeout wait: %d of %d \n\r",
+          ntripServerTimeoutPrint = millis();
+          Serial.printf("NTRIP Server connection timeout wait: %d of %d seconds \n\r",
                         (millis() - ntripServerLastConnectionAttempt) / 1000,
                         ntripServerConnectionAttemptTimeout / 1000
                        );
@@ -479,7 +480,7 @@ void ntripServerUpdate()
       if (!ntripServer->connected())
       {
         //Broken connection, retry the NTRIP server connection
-        Serial.println("NTRIP Server connection dropped");
+        Serial.println("Connection to NTRIP Server was closed");
         ntripServerStop(false); //Allocate new wifiClient
       }
       else if ((millis() - ntripServerTimer) > (3 * 1000))

From 72a55a00f611fbbbea1ecb26c4189eb6a91f075d Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Fri, 26 Aug 2022 09:10:54 -0600
Subject: [PATCH 131/134] Stop/start ESP-Now when starting WiFi

Prevents AUTH_EXP errors
---
 Firmware/RTK_Surveyor/WiFi.ino | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index b2e8ec439..4383e0121 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -209,15 +209,23 @@ bool wifiConnectionTimeout()
 void wifiStart(char* ssid, char* pw)
 {
 #ifdef COMPILE_WIFI
+  bool restartESPNow = false;
+
   if ((wifiState == WIFI_OFF) || (wifiState == WIFI_ON))
   {
     wifiSetState(WIFI_NOTCONNECTED);
 
 #ifdef COMPILE_ESPNOW
     if (espnowState > ESPNOW_OFF)
+    {
+      restartESPNow = true;
+      espnowStop();
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR); //Enable WiFi + ESP-Now. Stops WiFi Station.
+    }
     else
+    {
       esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols. Stops WiFi Station.
+    }
 #else
     //Be sure the standard protocols are turned on. ESP Now have have previously turned them off.
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols. Stops WiFi Station.
@@ -229,6 +237,11 @@ void wifiStart(char* ssid, char* pw)
     WiFi.begin(ssid, pw);
     wifiTimer = millis();
 
+#ifdef COMPILE_ESPNOW
+    if (restartESPNow == true)
+      espnowStart();
+#endif
+    
     //Display the heap state
     reportHeapNow();
   }

From 31f1e8e898ac8c41e2580d1baf3dd1355e1772dc Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 27 Aug 2022 10:51:23 -0600
Subject: [PATCH 132/134] Increase NTRIP Client and WiFi connection timeouts

Related to issue #285
---
 Firmware/RTK_Surveyor/NtripClient.ino | 4 +---
 Firmware/RTK_Surveyor/WiFi.ino        | 6 +++---
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index c488b6ae9..963a17356 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -47,7 +47,7 @@ static const int MAX_NTRIP_CLIENT_CONNECTION_ATTEMPTS = 3;
 static const uint32_t NTRIP_CLIENT_RESPONSE_TIMEOUT = 10 * 1000; //Milliseconds
 
 //NTRIP client receive data timeout
-static const uint32_t NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT = 10 * 1000; //Milliseconds
+static const uint32_t NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT = 30 * 1000; //Milliseconds
 
 //Most incoming data is around 500 bytes but may be larger
 static const int RTCM_DATA_SIZE = 512 * 4;
@@ -317,8 +317,6 @@ void ntripClientUpdate()
           if (ntripClientConnectLimitReached())
             //Display the WiFi failure
             paintNtripWiFiFail(4000, true);
-
-          //TODO WiFi not available, give up, disable future attempts
         }
       }
       else
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 4383e0121..961cdaaa9 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -45,7 +45,7 @@
 //----------------------------------------
 
 //If we cannot connect to local wifi, give up/go to Rover
-static const int WIFI_CONNECTION_TIMEOUT = 8 * 1000;  //Milliseconds
+static const int WIFI_CONNECTION_TIMEOUT = 10 * 1000;  //Milliseconds
 
 //Interval to use when displaying the IP address
 static const int WIFI_IP_ADDRESS_DISPLAY_INTERVAL = 12 * 1000;  //Milliseconds
@@ -215,6 +215,8 @@ void wifiStart(char* ssid, char* pw)
   {
     wifiSetState(WIFI_NOTCONNECTED);
 
+    WiFi.mode(WIFI_STA);
+
 #ifdef COMPILE_ESPNOW
     if (espnowState > ESPNOW_OFF)
     {
@@ -231,8 +233,6 @@ void wifiStart(char* ssid, char* pw)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Set basic WiFi protocols. Stops WiFi Station.
 #endif
 
-    WiFi.mode(WIFI_STA);
-
     Serial.printf("WiFi connecting to %s\r\n", ssid);
     WiFi.begin(ssid, pw);
     wifiTimer = millis();

From 030e4c4eb82da5461a943db55839ee94c1dd34c8 Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 27 Aug 2022 11:04:49 -0600
Subject: [PATCH 133/134] Remove developer settings for release

---
 Firmware/RTK_Surveyor/RTK_Surveyor.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 97494787e..10f777de8 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -30,7 +30,7 @@ const int FIRMWARE_VERSION_MINOR = 4;
 #define COMPILE_ESPNOW //Requires WiFi. Comment out to remove ESP-Now functionality.
 #define COMPILE_BT //Comment out to remove Bluetooth functionality
 #define COMPILE_L_BAND //Comment out to remove L-Band functionality
-#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
+//#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us

From 7f4533e36fa02ed61648673e0f7d73fa9c65eaae Mon Sep 17 00:00:00 2001
From: Nathan Seidle <nathan@sparkfun.com>
Date: Sat, 27 Aug 2022 11:24:35 -0600
Subject: [PATCH 134/134] Add v2.4 binary

---
 .../RTK_Surveyor_Firmware_v1_10.bin           | Bin
 .../RTK_Surveyor_Firmware_v1_11.bin           | Bin
 .../RTK_Surveyor_Firmware_v1_12.bin           | Bin
 Binaries/RTK_Surveyor_Firmware_v2.4.bin       | Bin 0 -> 2052352 bytes
 4 files changed, 0 insertions(+), 0 deletions(-)
 rename Binaries/{ => PreviousVersions}/RTK_Surveyor_Firmware_v1_10.bin (100%)
 rename Binaries/{ => PreviousVersions}/RTK_Surveyor_Firmware_v1_11.bin (100%)
 rename Binaries/{ => PreviousVersions}/RTK_Surveyor_Firmware_v1_12.bin (100%)
 create mode 100644 Binaries/RTK_Surveyor_Firmware_v2.4.bin

diff --git a/Binaries/RTK_Surveyor_Firmware_v1_10.bin b/Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_10.bin
similarity index 100%
rename from Binaries/RTK_Surveyor_Firmware_v1_10.bin
rename to Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_10.bin
diff --git a/Binaries/RTK_Surveyor_Firmware_v1_11.bin b/Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_11.bin
similarity index 100%
rename from Binaries/RTK_Surveyor_Firmware_v1_11.bin
rename to Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_11.bin
diff --git a/Binaries/RTK_Surveyor_Firmware_v1_12.bin b/Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_12.bin
similarity index 100%
rename from Binaries/RTK_Surveyor_Firmware_v1_12.bin
rename to Binaries/PreviousVersions/RTK_Surveyor_Firmware_v1_12.bin
diff --git a/Binaries/RTK_Surveyor_Firmware_v2.4.bin b/Binaries/RTK_Surveyor_Firmware_v2.4.bin
new file mode 100644
index 0000000000000000000000000000000000000000..d4e50150f89a1076a119c92d5e91ff61c33a0227
GIT binary patch
literal 2052352
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