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menuMessages.ino
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// Control the messages that get logged to SD
// Control max logging time (limit to a certain number of minutes)
// The main use case is the setup for a base station to log RAW sentences that then get post processed
void menuLog()
{
while (1)
{
systemPrintln();
systemPrintln("Menu: Logging");
if (settings.enableSD && online.microSD)
{
char sdCardSizeChar[20];
String cardSize;
stringHumanReadableSize(cardSize, sdCardSize);
cardSize.toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
char sdFreeSpaceChar[20];
String freeSpace;
stringHumanReadableSize(freeSpace, sdFreeSpace);
freeSpace.toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
char myString[60];
snprintf(myString, sizeof(myString), "SD card size: %s / Free space: %s", sdCardSizeChar, sdFreeSpaceChar);
systemPrintln(myString);
if (online.logging)
{
systemPrintf("Current log file name: %s\r\n", logFileName);
}
}
else
systemPrintln("No microSD card is detected");
if (bufferOverruns)
systemPrintf("Buffer overruns: %d\r\n", bufferOverruns);
systemPrint("1) Log to microSD: ");
if (settings.enableLogging == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");
if (settings.enableLogging == true)
{
systemPrint("2) Set max logging time: ");
systemPrint(settings.maxLogTime_minutes);
systemPrintln(" minutes");
systemPrint("3) Set max log length: ");
systemPrint(settings.maxLogLength_minutes);
systemPrintln(" minutes");
if (online.logging == true)
systemPrintln("4) Start new log");
systemPrint("5) Log Antenna Reference Position from RTCM 1005/1006: ");
if (settings.enableARPLogging == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");
if (settings.enableARPLogging == true)
{
systemPrint("6) Set ARP logging interval: ");
systemPrint(settings.ARPLoggingInterval_s);
systemPrintln(" seconds");
}
}
systemPrint("7) Write Marks_date.csv file to microSD: ");
if (settings.enableMarksFile == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");
systemPrint("8) Reset system if the SD card is detected but fails to initialize: ");
if (settings.forceResetOnSDFail == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");
if (HAS_ETHERNET)
{
systemPrint("9) Write NTP requests to microSD: ");
if (settings.enableNTPFile == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");
}
systemPrintln("x) Exit");
int incoming = getNumber(); // Returns EXIT, TIMEOUT, or long
if (incoming == 1)
{
settings.enableLogging ^= 1;
// Reset the maximum logging time when logging is disabled to ensure that
// the next time logging is enabled that the maximum amount of data can be
// captured.
if (settings.enableLogging == false)
startLogTime_minutes = 0;
}
else if (incoming == 2 && settings.enableLogging == true)
{
systemPrint("Enter max minutes before logging stops: ");
int maxMinutes = getNumber(); // Returns EXIT, TIMEOUT, or long
if ((maxMinutes != INPUT_RESPONSE_GETNUMBER_EXIT) && (maxMinutes != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
{
if (maxMinutes < 0 ||
maxMinutes >
(60 * 24 * 365 *
2)) // Arbitrary 2 year limit. See https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/86
systemPrintln("Error: Max minutes out of range");
else
settings.maxLogTime_minutes = maxMinutes; // Recorded to NVM and file at main menu exit
}
}
else if (incoming == 3 && settings.enableLogging == true)
{
systemPrint("Enter max minutes of logging before new log is created: ");
int maxLogMinutes = getNumber(); // Returns EXIT, TIMEOUT, or long
if ((maxLogMinutes != INPUT_RESPONSE_GETNUMBER_EXIT) && (maxLogMinutes != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
{
if (maxLogMinutes < 0 || maxLogMinutes > 60 * 48) // Arbitrary 48 hour limit
systemPrintln("Error: Max minutes out of range");
else
settings.maxLogLength_minutes = maxLogMinutes; // Recorded to NVM and file at main menu exit
}
}
else if (incoming == 4 && settings.enableLogging == true && online.logging == true)
{
endLogging(false, true); //(gotSemaphore, releaseSemaphore) Close file. Reset parser stats.
beginLogging(); // Create new file based on current RTC.
setLoggingType(); // Determine if we are standard, PPP, or custom. Changes logging icon accordingly.
}
else if (incoming == 5 && settings.enableLogging == true && online.logging == true)
{
settings.enableARPLogging ^= 1;
}
else if (incoming == 6 && settings.enableLogging == true && settings.enableARPLogging == true)
{
systemPrint("Enter the ARP logging interval in seconds: ");
int logSecs = getNumber(); // Returns EXIT, TIMEOUT, or long
if ((logSecs != INPUT_RESPONSE_GETNUMBER_EXIT) && (logSecs != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
{
if (logSecs < 1 || logSecs > 600) // Arbitrary 10 minute limit
systemPrintln("Error: Logging interval out of range");
else
settings.ARPLoggingInterval_s = logSecs; // Recorded to NVM and file at main menu exit
}
}
else if (incoming == 7)
{
settings.enableMarksFile ^= 1;
}
else if (incoming == 8)
{
settings.forceResetOnSDFail ^= 1;
}
else if ((HAS_ETHERNET) && (incoming == 9))
{
settings.enableNTPFile ^= 1;
}
else if (incoming == 'x')
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
break;
else
printUnknown(incoming);
}
clearBuffer(); // Empty buffer of any newline chars
}
// Control the messages that get broadcast over Bluetooth and logged (if enabled)
void menuMessages()
{
while (1)
{
systemPrintln();
systemPrintln("Menu: GNSS Messages");
systemPrintf("Active messages: %d\r\n", getActiveMessageCount());
systemPrintln("1) Set NMEA Messages");
if (zedModuleType == PLATFORM_F9P)
systemPrintln("2) Set RTCM Messages");
else if (zedModuleType == PLATFORM_F9R)
systemPrintln("2) Set ESF Messages");
systemPrintln("3) Set RXM Messages");
systemPrintln("4) Set NAV Messages");
systemPrintln("5) Set NAV2 Messages");
systemPrintln("6) Set NMEA NAV2 Messages");
systemPrintln("7) Set MON Messages");
systemPrintln("8) Set TIM Messages");
systemPrintln("9) Set PUBX Messages");
systemPrintln("10) Reset to Surveying Defaults (NMEAx5)");
systemPrintln("11) Reset to PPP Logging Defaults (NMEAx5 + RXMx2)");
systemPrintln("12) Turn off all messages");
systemPrintln("13) Turn on all messages");
systemPrintln("x) Exit");
int incoming = getNumber(); // Returns EXIT, TIMEOUT, or long
if (incoming == 1)
menuMessagesSubtype(settings.ubxMessageRates, "NMEA_"); // The following _ avoids listing NMEANAV2 messages
else if (incoming == 2 && zedModuleType == PLATFORM_F9P)
menuMessagesSubtype(settings.ubxMessageRates, "RTCM");
else if (incoming == 2 && zedModuleType == PLATFORM_F9R)
menuMessagesSubtype(settings.ubxMessageRates, "ESF");
else if (incoming == 3)
menuMessagesSubtype(settings.ubxMessageRates, "RXM");
else if (incoming == 4)
menuMessagesSubtype(settings.ubxMessageRates, "NAV_"); // The following _ avoids listing NAV2 messages
else if (incoming == 5)
menuMessagesSubtype(settings.ubxMessageRates, "NAV2");
else if (incoming == 6)
menuMessagesSubtype(settings.ubxMessageRates, "NMEANAV2");
else if (incoming == 7)
menuMessagesSubtype(settings.ubxMessageRates, "MON");
else if (incoming == 8)
menuMessagesSubtype(settings.ubxMessageRates, "TIM");
else if (incoming == 9)
menuMessagesSubtype(settings.ubxMessageRates, "PUBX");
else if (incoming == 10)
{
setGNSSMessageRates(settings.ubxMessageRates, 0); // Turn off all messages
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;
setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); // One report per second
setMessageRateByName("UBX_NMEA_RMC", 1);
systemPrintln("Reset to Surveying Defaults (NMEAx5)");
}
else if (incoming == 11)
{
setGNSSMessageRates(settings.ubxMessageRates, 0); // Turn off all messages
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;
setMessageRateByName("UBX_NMEA_GSV", measurementFrequency); // One report per second
setMessageRateByName("UBX_NMEA_RMC", 1);
setMessageRateByName("UBX_RXM_RAWX", 1);
setMessageRateByName("UBX_RXM_SFRBX", 1);
systemPrintln("Reset to PPP Logging Defaults (NMEAx5 + RXMx2)");
}
else if (incoming == 12)
{
setGNSSMessageRates(settings.ubxMessageRates, 0); // Turn off all messages
systemPrintln("All messages disabled");
}
else if (incoming == 13)
{
setGNSSMessageRates(settings.ubxMessageRates, 1); // Turn on all messages to report once per fix
systemPrintln("All messages enabled");
}
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
break;
else
printUnknown(incoming);
}
clearBuffer(); // Empty buffer of any newline chars
// Make sure the appropriate messages are enabled
bool response = setMessages(MAX_SET_MESSAGES_RETRIES); // Does a complete open/closed val set
if (response == false)
systemPrintf("menuMessages: Failed to enable messages - after %d tries", MAX_SET_MESSAGES_RETRIES);
else
systemPrintln("menuMessages: Messages successfully enabled");
setLoggingType(); // Update Standard, PPP, or custom for icon selection
}
// Control the RTCM message rates when in Base mode
void menuMessagesBaseRTCM()
{
while (1)
{
systemPrintln();
systemPrintln("Menu: GNSS Messages - Base RTCM");
systemPrintln("1) Set RXM Messages for Base Mode");
systemPrintln("2) Reset to Defaults (1005/74/84/94/124 1Hz & 1230 0.1Hz)");
systemPrintln("3) Reset to Low Bandwidth Link (1074/84/94/124 0.5Hz & 1005/230 0.1Hz)");
systemPrintln("x) Exit");
int incoming = getNumber(); // Returns EXIT, TIMEOUT, or long
if (incoming == 1)
{
menuMessagesSubtype(settings.ubxMessageRatesBase, "RTCM-Base");
restartBase = true;
}
else if (incoming == 2)
{
int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005") - firstRTCMRecord] = 1; // 1105
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074") - firstRTCMRecord] = 1; // 1074
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077") - firstRTCMRecord] = 0; // 1077
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084") - firstRTCMRecord] = 1; // 1084
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087") - firstRTCMRecord] = 0; // 1087
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094") - firstRTCMRecord] = 1; // 1094
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097") - firstRTCMRecord] = 0; // 1097
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124") - firstRTCMRecord] = 1; // 1124
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127") - firstRTCMRecord] = 0; // 1127
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230") - firstRTCMRecord] = 10; // 1230
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0") - firstRTCMRecord] = 0; // 4072_0
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1") - firstRTCMRecord] = 0; // 4072_1
systemPrintln("Reset to Defaults (1005/74/84/94/124 1Hz & 1230 0.1Hz)");
restartBase = true;
}
else if (incoming == 3)
{
int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005") - firstRTCMRecord] = 10; // 1105 0.1Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074") - firstRTCMRecord] = 2; // 1074 0.5Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077") - firstRTCMRecord] = 0; // 1077
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084") - firstRTCMRecord] = 2; // 1084 0.5Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087") - firstRTCMRecord] = 0; // 1087
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094") - firstRTCMRecord] = 2; // 1094 0.5Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097") - firstRTCMRecord] = 0; // 1097
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124") - firstRTCMRecord] = 2; // 1124 0.5Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127") - firstRTCMRecord] = 0; // 1127
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230") - firstRTCMRecord] = 10; // 1230 0.1Hz
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0") - firstRTCMRecord] = 0; // 4072_0
settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1") - firstRTCMRecord] = 0; // 4072_1
systemPrintln("Reset to Low Bandwidth Link (1074/84/94/124 0.5Hz & 1005/230 0.1Hz)");
restartBase = true;
}
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
break;
else
printUnknown(incoming);
}
clearBuffer(); // Empty buffer of any newline chars
}
// Given a sub type (ie "RTCM", "NMEA") present menu showing messages with this subtype
// Controls the messages that get broadcast over Bluetooth and logged (if enabled)
void menuMessagesSubtype(uint8_t *localMessageRate, const char *messageType)
{
while (1)
{
systemPrintln();
systemPrintf("Menu: Message %s\r\n", messageType);
int startOfBlock = 0;
int endOfBlock = 0;
int rtcmOffset = 0; // Used to offset messageSupported lookup
if (strcmp(messageType, "RTCM-Base") == 0) // The ubxMessageRatesBase array is 0 to MAX_UBX_MSG_RTCM - 1
{
startOfBlock = 0;
endOfBlock = MAX_UBX_MSG_RTCM;
rtcmOffset = getMessageNumberByName("UBX_RTCM_1005");
}
else
setMessageOffsets(&ubxMessages[0], messageType, startOfBlock,
endOfBlock); // Find start and stop of given messageType in message array
for (int x = 0; x < (endOfBlock - startOfBlock); x++)
{
// Check to see if this ZED platform supports this message
if (messageSupported(x + startOfBlock + rtcmOffset) == true)
{
systemPrintf("%d) Message %s: ", x + 1, ubxMessages[x + startOfBlock + rtcmOffset].msgTextName);
systemPrintln(localMessageRate[x + startOfBlock]);
}
}
systemPrintln("x) Exit");
int incoming = getNumber(); // Returns EXIT, TIMEOUT, or long
if (incoming >= 1 && incoming <= (endOfBlock - startOfBlock))
{
// Check to see if this ZED platform supports this message
int msgNumber = (incoming - 1) + startOfBlock;
if (messageSupported(msgNumber + rtcmOffset) == true)
inputMessageRate(localMessageRate[msgNumber], msgNumber + rtcmOffset);
else
printUnknown(incoming);
}
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
break;
else
printUnknown(incoming);
}
clearBuffer(); // Empty buffer of any newline chars
}
// Prompt the user to enter the message rate for a given message ID
// Assign the given value to the message
void inputMessageRate(uint8_t &localMessageRate, uint8_t messageNumber)
{
systemPrintf("Enter %s message rate (0 to disable): ", ubxMessages[messageNumber].msgTextName);
int rate = getNumber(); // Returns EXIT, TIMEOUT, or long
if (rate == INPUT_RESPONSE_GETNUMBER_TIMEOUT || rate == INPUT_RESPONSE_GETNUMBER_EXIT)
return;
while (rate < 0 || rate > 255) // 8 bit limit
{
systemPrintln("Error: Message rate out of range");
systemPrintf("Enter %s message rate (0 to disable): ", ubxMessages[messageNumber].msgTextName);
rate = getNumber(); // Returns EXIT, TIMEOUT, or long
if (rate == INPUT_RESPONSE_GETNUMBER_TIMEOUT || rate == INPUT_RESPONSE_GETNUMBER_EXIT)
return; // Give up
}
localMessageRate = rate;
}
// Set all GNSS message report rates to one value
// Useful for turning on or off all messages for resetting and testing
// We pass in the message array by reference so that we can modify a temp struct
// like a dummy struct for USB message changes (all on/off) for testing
void setGNSSMessageRates(uint8_t *localMessageRate, uint8_t msgRate)
{
for (int x = 0; x < MAX_UBX_MSG; x++)
localMessageRate[x] = msgRate;
}
// Creates a log if logging is enabled, and SD is detected
// Based on GPS data/time, create a log file in the format SFE_Surveyor_YYMMDD_HHMMSS.ubx
void beginLogging()
{
beginLogging(nullptr);
}
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
{
if (customFileName == nullptr)
{
// Generate a standard log file name
if (reuseLastLog == true) // attempt to use previous log
{
reuseLastLog = false; // Don't reuse the file a second time
// findLastLog does not add the preceding slash. We need to do it manually
logFileName[0] = '/'; // Erase any existing file name
logFileName[1] = 0;
if (findLastLog(&logFileName[1], sizeof(logFileName) - 1) == false)
{
logFileName[0] = 0; // No file found. Erase the slash
log_d("Failed to find last log. Making new one.");
}
else
log_d("Using last log file.");
}
else
{
// We are not reusing the last log, so erase the global/original filename
logFileName[0] = 0;
}
if (strlen(logFileName) == 0)
{
snprintf(logFileName, sizeof(logFileName), "/%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
{
strncpy(logFileName, customFileName,
sizeof(logFileName) - 1); // customFileName already has the preceding slash added
}
// Allocate the ubxFile
if (!ubxFile)
{
ubxFile = new FileSdFatMMC;
if (!ubxFile)
{
systemPrintln("Failed to allocate ubxFile!");
return;
}
}
// Attempt to write to file system. This avoids collisions with file writing in F9PSerialReadTask()
if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_longWait_ms) == pdPASS)
{
markSemaphore(FUNCTION_CREATEFILE);
// O_CREAT - create the file if it does not exist
// O_APPEND - seek to the end of the file prior to each write
// O_WRITE - open for write
if (ubxFile->open(logFileName, O_CREAT | O_APPEND | O_WRITE) == false)
{
systemPrintf("Failed to create GNSS UBX data file: %s\r\n", logFileName);
online.logging = false;
xSemaphoreGive(sdCardSemaphore);
return;
}
fileSize = 0;
lastLogSize = 0; // Reset counter - used for displaying active logging icon
bufferOverruns = 0; // Reset counter
ubxFile->updateFileCreateTimestamp(); // Update the file to create time & date
startCurrentLogTime_minutes = millis() / 1000L / 60; // Mark now as start of logging
// If it hasn't been done before, mark the initial start of logging for total run time
if (startLogTime_minutes == 0)
startLogTime_minutes = millis() / 1000L / 60;
// Add NMEA txt message with restart reason
char rstReason[30];
switch (esp_reset_reason())
{
case ESP_RST_UNKNOWN:
strcpy(rstReason, "ESP_RST_UNKNOWN");
break;
case ESP_RST_POWERON:
strcpy(rstReason, "ESP_RST_POWERON");
break;
case ESP_RST_SW:
strcpy(rstReason, "ESP_RST_SW");
break;
case ESP_RST_PANIC:
strcpy(rstReason, "ESP_RST_PANIC");
break;
case ESP_RST_INT_WDT:
strcpy(rstReason, "ESP_RST_INT_WDT");
break;
case ESP_RST_TASK_WDT:
strcpy(rstReason, "ESP_RST_TASK_WDT");
break;
case ESP_RST_WDT:
strcpy(rstReason, "ESP_RST_WDT");
break;
case ESP_RST_DEEPSLEEP:
strcpy(rstReason, "ESP_RST_DEEPSLEEP");
break;
case ESP_RST_BROWNOUT:
strcpy(rstReason, "ESP_RST_BROWNOUT");
break;
case ESP_RST_SDIO:
strcpy(rstReason, "ESP_RST_SDIO");
break;
default:
strcpy(rstReason, "Unknown");
}
// Mark top of log with system information
char nmeaMessage[82]; // Max NMEA sentence length is 82
createNMEASentence(CUSTOM_NMEA_TYPE_RESET_REASON, nmeaMessage, sizeof(nmeaMessage),
rstReason); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
// Record system firmware versions and info to log
// SparkFun RTK Express v1.10-Feb 11 2022
char firmwareVersion[30]; // v1.3 December 31 2021
firmwareVersion[0] = 'v';
getFirmwareVersion(&firmwareVersion[1], sizeof(firmwareVersion) -1, true);
createNMEASentence(CUSTOM_NMEA_TYPE_SYSTEM_VERSION, nmeaMessage, sizeof(nmeaMessage),
firmwareVersion); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
// ZED-F9P firmware: HPG 1.30
createNMEASentence(CUSTOM_NMEA_TYPE_ZED_VERSION, nmeaMessage, sizeof(nmeaMessage),
zedFirmwareVersion); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
// ZED-F9 unique chip ID
createNMEASentence(CUSTOM_NMEA_TYPE_ZED_UNIQUE_ID, nmeaMessage, sizeof(nmeaMessage),
zedUniqueId); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
// Device BT MAC. See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/346
char macAddress[5];
snprintf(macAddress, sizeof(macAddress), "%02X%02X", btMACAddress[4], btMACAddress[5]);
createNMEASentence(CUSTOM_NMEA_TYPE_DEVICE_BT_ID, nmeaMessage, sizeof(nmeaMessage),
macAddress); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
// Record today's time/date into log. This is in case a log is restarted. See issue 440:
// https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/440
char currentDate[sizeof("230101,120101")];
snprintf(currentDate, sizeof(currentDate), "%02d%02d%02d,%02d%02d%02d", 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
);
createNMEASentence(CUSTOM_NMEA_TYPE_CURRENT_DATE, nmeaMessage, sizeof(nmeaMessage),
currentDate); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
if (reuseLastLog == true)
{
systemPrintln("Appending last available log");
}
xSemaphoreGive(sdCardSemaphore);
}
else
{
// A retry will happen during the next loop, the log will eventually be opened
log_d("Failed to get file system lock to create GNSS UBX data file");
online.logging = false;
return;
}
systemPrintf("Log file name: %s\r\n", logFileName);
online.logging = true;
} // online.sd, enable.logging, online.rtc
} // online.logging
}
// Stop writing to the log file on the microSD card
void endLogging(bool gotSemaphore, bool releaseSemaphore)
{
if (online.logging == true)
{
// Wait up to 1000ms to allow hanging SD writes to time out
if (gotSemaphore || (xSemaphoreTake(sdCardSemaphore, 1000 / portTICK_PERIOD_MS) == pdPASS))
{
markSemaphore(FUNCTION_ENDLOGGING);
online.logging = false;
// Record the number of NMEA/RTCM/UBX messages that were filtered out
char parserStats[50];
snprintf(parserStats, sizeof(parserStats), "%d,%d,%d,", failedParserMessages_NMEA,
failedParserMessages_RTCM, failedParserMessages_UBX);
char nmeaMessage[82]; // Max NMEA sentence length is 82
createNMEASentence(CUSTOM_NMEA_TYPE_PARSER_STATS, nmeaMessage, sizeof(nmeaMessage),
parserStats); // textID, buffer, sizeOfBuffer, text
ubxFile->println(nmeaMessage);
ubxFile->sync();
// Reset stats in case a new log is created
failedParserMessages_NMEA = 0;
failedParserMessages_RTCM = 0;
failedParserMessages_UBX = 0;
// Close down file system
ubxFile->close();
// Done with the log file
delete ubxFile;
ubxFile = nullptr;
systemPrintln("Log file closed");
// Release the semaphore if requested
if (releaseSemaphore)
xSemaphoreGive(sdCardSemaphore);
} // End sdCardSemaphore
else
{
char semaphoreHolder[50];
getSemaphoreFunction(semaphoreHolder);
// 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, held by %s, menuMessages.ino line %d\r\n", semaphoreHolder,
__LINE__);
}
}
}
// Finds last log
// Returns true if successful
// lastLogName will contain the name of the last log file on return - ** but without the preceding slash **
bool findLastLog(char *lastLogNamePrt, size_t lastLogNameSize)
{
bool foundAFile = false;
if (online.microSD == true)
{
// Attempt to access file system. This avoids collisions with file writing in F9PSerialReadTask()
// Wait up to 5s, this is important
if (xSemaphoreTake(sdCardSemaphore, 5000 / portTICK_PERIOD_MS) == pdPASS)
{
markSemaphore(FUNCTION_FINDLOG);
// Count available binaries
if (USE_SPI_MICROSD)
{
SdFile tempFile;
SdFile dir;
const char *LOG_EXTENSION = "ubx";
const char *LOG_PREFIX = platformFilePrefix;
char fname[100]; // Handle long file names
dir.open("/"); // Open root
while (tempFile.openNext(&dir, O_READ))
{
if (tempFile.isFile())
{
tempFile.getName(fname, sizeof(fname));
// Check for matching file name prefix and extension
if (strcmp(LOG_EXTENSION, &fname[strlen(fname) - strlen(LOG_EXTENSION)]) == 0)
{
if (strstr(fname, LOG_PREFIX) != nullptr)
{
strncpy(lastLogNamePrt, fname,
lastLogNameSize - 1); // Store this file as last known log file
foundAFile = true;
}
}
}
tempFile.close();
}
}
#ifdef COMPILE_SD_MMC
else
{
File tempFile;
File dir;
const char *LOG_EXTENSION = "ubx";
const char *LOG_PREFIX = platformFilePrefix;
char fname[100]; // Handle long file names
dir = SD_MMC.open("/"); // Open root
if (dir && dir.isDirectory())
{
tempFile = dir.openNextFile();
while (tempFile)
{
if (!tempFile.isDirectory())
{
snprintf(fname, sizeof(fname), "%s", tempFile.name());
// Check for matching file name prefix and extension
if (strcmp(LOG_EXTENSION, &fname[strlen(fname) - strlen(LOG_EXTENSION)]) == 0)
{
if (strstr(fname, LOG_PREFIX) != nullptr)
{
strncpy(lastLogNamePrt, fname,
lastLogNameSize - 1); // Store this file as last known log file
foundAFile = true;
}
}
}
tempFile.close();
tempFile = dir.openNextFile();
}
}
}
#endif // COMPILE_SD_MMC
xSemaphoreGive(sdCardSemaphore);
}
else
{
// Error when a log file exists on the microSD card, data should be appended
// to the existing log file
systemPrintf("sdCardSemaphore failed to yield, menuMessages.ino line %d\r\n", __LINE__);
}
}
return (foundAFile);
}
// Given a unique string, find first and last records containing that string in message array
void setMessageOffsets(const ubxMsg *localMessage, const char *messageType, int &startOfBlock, int &endOfBlock)
{
char messageNamePiece[40]; // UBX_RTCM
snprintf(messageNamePiece, sizeof(messageNamePiece), "UBX_%s", messageType); // Put UBX_ infront of type
// Find the first occurrence
for (startOfBlock = 0; startOfBlock < MAX_UBX_MSG; startOfBlock++)
{
if (strstr(localMessage[startOfBlock].msgTextName, messageNamePiece) != nullptr)
break;
}
if (startOfBlock == MAX_UBX_MSG)
{
// Error out
startOfBlock = 0;
endOfBlock = 0;
return;
}
// Find the last occurrence
for (endOfBlock = startOfBlock + 1; endOfBlock < MAX_UBX_MSG; endOfBlock++)
{
if (strstr(localMessage[endOfBlock].msgTextName, messageNamePiece) == nullptr)
break;
}
}
// Return the number of active/enabled messages
uint8_t getActiveMessageCount()
{
uint8_t count = 0;
for (int x = 0; x < MAX_UBX_MSG; x++)
if (settings.ubxMessageRates[x] > 0)
count++;
return (count);
}
// Count the number of NAV2 messages with rates more than 0. Used for determining if we need the enable
// the global NAV2 feature.
uint8_t getNAV2MessageCount()
{
int enabledMessages = 0;
int startOfBlock = 0;
int endOfBlock = 0;
setMessageOffsets(&ubxMessages[0], "NAV2", startOfBlock,
endOfBlock); // Find start and stop of given messageType in message array
for (int x = 0; x < (endOfBlock - startOfBlock); x++)
{
if (settings.ubxMessageRates[x + startOfBlock] > 0)
enabledMessages++;
}
setMessageOffsets(&ubxMessages[0], "NMEANAV2", startOfBlock,
endOfBlock); // Find start and stop of given messageType in message array
for (int x = 0; x < (endOfBlock - startOfBlock); x++)
{
if (settings.ubxMessageRates[x + startOfBlock] > 0)
enabledMessages++;
}
return (enabledMessages);
}
// Given the name of a message, find it, and set the rate
bool setMessageRateByName(const char *msgName, uint8_t msgRate)
{
for (int x = 0; x < MAX_UBX_MSG; x++)
{
if (strcmp(ubxMessages[x].msgTextName, msgName) == 0)
{
settings.ubxMessageRates[x] = msgRate;
return (true);
}
}
systemPrintf("setMessageRateByName: %s not found\r\n", msgName);
return (false);
}
// Given the name of a message, find it, and return the rate
uint8_t getMessageRateByName(const char *msgName)
{
return (settings.ubxMessageRates[getMessageNumberByName(msgName)]);
}
// Given the name of a message, return the array number
uint8_t getMessageNumberByName(const char *msgName)
{
for (int x = 0; x < MAX_UBX_MSG; x++)
{
if (strcmp(ubxMessages[x].msgTextName, msgName) == 0)
return (x);
}
systemPrintf("getMessageNumberByName: %s not found\r\n", msgName);
return (0);
}
// Check rates to see if they need to be reset to defaults
void checkMessageRates()
{
if (settings.ubxMessageRates[0] == 254)
{
// Reset rates to defaults
for (int x = 0; x < MAX_UBX_MSG; x++)
{
if (ubxMessages[x].msgClass == UBX_RTCM_MSB)
settings.ubxMessageRates[x] = 0; // For general rover messages, RTCM should be zero by default.
// ubxMessageRatesBase will have the proper defaults.
else
settings.ubxMessageRates[x] = ubxMessages[x].msgDefaultRate;
}
}
if (settings.ubxMessageRatesBase[0] == 254)
{
// Reset Base rates to defaults
int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
for (int x = 0; x < MAX_UBX_MSG_RTCM; x++)
settings.ubxMessageRatesBase[x] = ubxMessages[firstRTCMRecord + x].msgDefaultRate;
}
}
// 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();
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;
if (getMessageRateByName("UBX_RXM_RAWX") > 0 && getMessageRateByName("UBX_RXM_SFRBX") > 0)
loggingType = LOGGING_PPP;
}
}
}
// During the logging test, we have to modify the messages and rate of the device
void setLogTestFrequencyMessages(int rate, int messages)
{
// Set measurement frequency
setRate(1.0 / rate); // Convert Hz to seconds. This will set settings.measurementRate, settings.navigationRate, and
// GSV message
// Set messages
setGNSSMessageRates(settings.ubxMessageRates, 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 / SPI and USB
setMessages(MAX_SET_MESSAGES_RETRIES); // Does a complete open/closed val set