Merge branch 'main' of https://github.com/sparkfun/SparkFun_RTK_Firmware into main

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -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
@@ -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);
@@ -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
@@ -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
   }

Firmware/RTK_Surveyor/Begin.ino

@@ -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");
@@ -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())
@@ -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
   {
@@ -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
 
@@ -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;
 
@@ -336,6 +350,7 @@ void beginGNSS()
 
     printModuleInfo(); //Print module type and firmware version
   }
+
   online.gnss = true;
 }
 
@@ -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
 }

Firmware/RTK_Surveyor/Display.ino

@@ -86,7 +86,7 @@ void updateDisplay()
           displayWiFiConfig(); //Display SSID and IP
           break;
         case (STATE_TEST):
-          //Do nothing
+          paintSystemTest();
           break;
         case (STATE_TESTING):
           paintSystemTest();
@@ -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();
   }
 }
 
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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();
   }
 }
@@ -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);
+    }
+  }
+}

Firmware/RTK_Surveyor/Form.ino

@@ -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"));
@@ -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);
@@ -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;
         }
@@ -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;
         }