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Merge branch 'main' of https://github.com/sparkfun/SparkFun_RTK_Firmware
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@nseidle
nseidle committed Sep 20, 2021
2 parents 86b335b + b98dc49 commit 5ee9995
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Showing 16 changed files with 373 additions and 305 deletions.
29 changes: 21 additions & 8 deletions Firmware/RTK_Surveyor/Base.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,15 @@ bool configureUbloxModuleBase()
}
}

#define OUTPUT_SETTING 14

//Turn on RTCM so that we can harvest RTCM over I2C and send out over WiFi
//This is easier than parsing over UART because the library handles the frame detection
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 -

//In base mode the Surveyor should output RTCM over UART2 and I2C 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
Expand Down Expand Up @@ -90,10 +99,10 @@ bool beginSurveyIn()
//Wait until active becomes true
long maxTime = 5000;
long startTime = millis();
while(i2cGNSS.getSurveyInActive(100) == false)
while (i2cGNSS.getSurveyInActive(100) == false)
{
delay(100);
if(millis() - startTime > maxTime) return(false); //Reset of survey failed
if (millis() - startTime > maxTime) return (false); //Reset of survey failed
}

return (true);
Expand All @@ -110,19 +119,19 @@ bool resetSurvey()
delay(1000);
response &= i2cGNSS.disableSurveyMode(maxWait); //Disable survey

if(response == false)
return(response);
if (response == false)
return (response);

//Wait until active and valid becomes false
long maxTime = 5000;
long startTime = millis();
while(i2cGNSS.getSurveyInActive(100) == true || i2cGNSS.getSurveyInValid(100) == true)
while (i2cGNSS.getSurveyInActive(100) == true || i2cGNSS.getSurveyInValid(100) == true)
{
delay(100);
if(millis() - startTime > maxTime) return(false); //Reset of survey failed
if (millis() - startTime > maxTime) return (false); //Reset of survey failed
}

return(true);
return (true);
}

//Start the base using fixed coordinates
Expand Down Expand Up @@ -203,7 +212,11 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
}

//Check for too many digits
if (logIncreasing == true)
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
}
Expand Down
31 changes: 23 additions & 8 deletions Firmware/RTK_Surveyor/Begin.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ void beginBoard()

//Bug in ZED-F9P v1.13 firmware causes RTK LED to not light when RTK Floating with SBAS on.
//The following changes the POR default but will be overwritten by settings in NVM or settings file
ubxConstellations[1].enabled = false;
settings.ubxConstellations[1].enabled = false;

strcpy(platformFilePrefix, "SFE_Surveyor");
strcpy(platformPrefix, "Surveyor");
Expand Down Expand Up @@ -112,14 +112,25 @@ void beginBoard()
if (esp_reset_reason() == ESP_RST_POWERON)
{
reuseLastLog = false; //Start new log
settings.resetCount = 0;
recordSystemSettings(); //Record to NVM

loadSettingsPartial();
if (settings.enableResetDisplay == true)
{
settings.resetCount = 0;
recordSystemSettings(); //Record to NVM
}
}
else
{
reuseLastLog = true; //Attempt to reuse previous log
settings.resetCount++;
recordSystemSettings(); //Record to NVM

loadSettingsPartial();
if (settings.enableResetDisplay == true)
{
settings.resetCount++;
recordSystemSettings(); //Record to NVM
Serial.printf("resetCount: %d\n\r", settings.resetCount);
}

Serial.print("Reset reason: ");
switch (esp_reset_reason())
Expand Down Expand Up @@ -196,6 +207,9 @@ void beginSD()
}

online.microSD = true;

Serial.println(F("microSD online"));
scanForFirmware(); //See if SD card contains new firmware that should be loaded at startup
}
else
{
Expand All @@ -214,7 +228,7 @@ void beginUART2()
"UARTStart", //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.
0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
&pinUART2TaskHandle, //Task handle
0); //Core where task should run, 0=core, 1=Arduino

Expand All @@ -225,9 +239,9 @@ void beginUART2()
//Assign UART2 interrupts to the core 0. See: https://github.com/espressif/arduino-esp32/issues/3386
void pinUART2Task( void *pvParameters )
{
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.
serialGNSS.setRxBufferSize(SERIAL_SIZE_RX);
serialGNSS.setTimeout(50);
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.

uart2pinned = true;

Expand Down Expand Up @@ -336,6 +350,7 @@ void beginGNSS()

printModuleInfo(); //Print module type and firmware version
}

online.gnss = true;
}

Expand Down Expand Up @@ -460,6 +475,6 @@ void beginSystemState()
"BtnCheck", //Just for humans
buttonTaskStackSize, //Stack Size
NULL, //Task input parameter
ButtonCheckTaskPriority, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
ButtonCheckTaskPriority,
&ButtonCheckTaskHandle); //Task handle
}
38 changes: 31 additions & 7 deletions Firmware/RTK_Surveyor/Display.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ void updateDisplay()
displayWiFiConfig(); //Display SSID and IP
break;
case (STATE_TEST):
//Do nothing
paintSystemTest();
break;
case (STATE_TESTING):
paintSystemTest();
Expand Down Expand Up @@ -445,12 +445,7 @@ void paintSIV()
oled.print(i2cGNSS.getSIV());
}

if (settings.enableResetDisplay == true)
{
oled.setFontType(0); //Small font
oled.setCursor(16 + (8 * 3) + 6, 38); //x, y
oled.print(settings.resetCount);
}
paintResets();
}
}

Expand Down Expand Up @@ -646,6 +641,8 @@ void paintBaseTempTransmitting()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -680,6 +677,8 @@ void paintBaseTempWiFiStarted()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -715,6 +714,8 @@ void paintBaseTempWiFiConnected()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -776,6 +777,8 @@ void paintBaseTempCasterConnected()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -822,6 +825,8 @@ void paintBaseFixedTransmitting()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -856,6 +861,8 @@ void paintBaseFixedWiFiStarted()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -891,6 +898,8 @@ void paintBaseFixedWiFiConnected()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -952,6 +961,8 @@ void paintBaseFixedCasterConnected()
oled.setFontType(1); //Set font to type 1: 8x16
oled.print(rtcmPacketsSent); //rtcmPacketsSent is controlled in processRTCM()

paintResets();

paintLogging();
}
}
Expand Down Expand Up @@ -1558,3 +1569,16 @@ void displayMessage(const char* message, uint16_t displayTime)
delay(displayTime);
}
}

void paintResets()
{
if (online.display == true)
{
if (settings.enableResetDisplay == true)
{
oled.setFontType(0); //Small font
oled.setCursor(16 + (8 * 3) + 6, 38); //x, y
oled.print(settings.resetCount);
}
}
}
26 changes: 16 additions & 10 deletions Firmware/RTK_Surveyor/Form.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,12 @@ void startConfigAP()
#ifdef COMPILE_WIFI
static void handleFirmwareFileUpload(AsyncWebServerRequest *request, String fileName, size_t index, uint8_t *data, size_t len, bool final)
{
if(online.microSD == false)
{
Serial.println(F("No SD card available"));
return;
}

//Attempt to write to file system. This avoids collisions with file writing in F9PSerialReadTask()
if (xSemaphoreTake(xFATSemaphore, fatSemaphore_longWait_ms) != pdPASS) {
Serial.println(F("Failed to get file system lock on firmware file"));
Expand Down Expand Up @@ -243,13 +249,13 @@ void createSettingsString(char* settingsCSV)
//GNSS Config
stringRecord(settingsCSV, "measurementRateHz", 1000.0 / settings.measurementRate, 2); //2 = decimals to print
stringRecord(settingsCSV, "dynamicModel", settings.dynamicModel);
stringRecord(settingsCSV, "ubxConstellationsGPS", ubxConstellations[0].enabled); //GPS
stringRecord(settingsCSV, "ubxConstellationsSBAS", ubxConstellations[1].enabled); //SBAS
stringRecord(settingsCSV, "ubxConstellationsGalileo", ubxConstellations[2].enabled); //Galileo
stringRecord(settingsCSV, "ubxConstellationsBeiDou", ubxConstellations[3].enabled); //BeiDou
stringRecord(settingsCSV, "ubxConstellationsGLONASS", ubxConstellations[5].enabled); //GLONASS
stringRecord(settingsCSV, "ubxConstellationsGPS", settings.ubxConstellations[0].enabled); //GPS
stringRecord(settingsCSV, "ubxConstellationsSBAS", settings.ubxConstellations[1].enabled); //SBAS
stringRecord(settingsCSV, "ubxConstellationsGalileo", settings.ubxConstellations[2].enabled); //Galileo
stringRecord(settingsCSV, "ubxConstellationsBeiDou", settings.ubxConstellations[3].enabled); //BeiDou
stringRecord(settingsCSV, "ubxConstellationsGLONASS", settings.ubxConstellations[5].enabled); //GLONASS
for (int x = 0 ; x < MAX_UBX_MSG ; x++)
stringRecord(settingsCSV, ubxMessages[x].msgTextName, ubxMessages[x].msgRate);
stringRecord(settingsCSV, settings.ubxMessages[x].msgTextName, settings.ubxMessages[x].msgRate);

//Base Config
stringRecord(settingsCSV, "baseTypeSurveyIn", !settings.fixedBase);
Expand Down Expand Up @@ -394,11 +400,11 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
{
char tempString[50]; //ubxConstellationsSBAS
sprintf(tempString, "ubxConstellations%s", ubxConstellations[x].textName);
sprintf(tempString, "ubxConstellations%s", settings.ubxConstellations[x].textName);

if (strcmp(settingName, tempString) == 0)
{
ubxConstellations[x].enabled = settingValueBool;
settings.ubxConstellations[x].enabled = settingValueBool;
knownSetting = true;
break;
}
Expand All @@ -410,9 +416,9 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
{
for (int x = 0 ; x < MAX_UBX_MSG ; x++)
{
if (strcmp(settingName, ubxMessages[x].msgTextName) == 0)
if (strcmp(settingName, settings.ubxMessages[x].msgTextName) == 0)
{
ubxMessages[x].msgRate = settingValue;
settings.ubxMessages[x].msgRate = settingValue;
knownSetting = true;
break;
}
Expand Down
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