Add polling check to start of survey in.

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -65,11 +65,13 @@ bool configureUbloxModuleBase()
 bool beginSurveyIn()
 {
   bool needSurveyReset = false;
-  if (i2cGNSS.getSurveyInActive() == true) needSurveyReset = true;
-  if (i2cGNSS.getSurveyInValid() == true) needSurveyReset = true;
+  if (i2cGNSS.getSurveyInActive(100) == true) needSurveyReset = true;
+  if (i2cGNSS.getSurveyInValid(100) == true) needSurveyReset = true;
 
   if (needSurveyReset == true)
   {
+    Serial.println("Resetting survey");
+
     if (resetSurvey() == false)
     {
       Serial.println(F("Survey reset failed"));
@@ -80,7 +82,7 @@ bool beginSurveyIn()
     }
   }
 
-  bool response = i2cGNSS.enableSurveyMode(settings.observationSeconds, settings.observationPositionAccuracy); //Enable Survey in, with user parameters
+  bool response = i2cGNSS.enableSurveyMode(settings.observationSeconds, settings.observationPositionAccuracy, 5000); //Enable Survey in, with user parameters. Wait up to 5s.
   if (response == false)
   {
     Serial.println(F("Survey start failed"));
@@ -92,6 +94,15 @@ bool beginSurveyIn()
                 settings.observationPositionAccuracy
                );
 
+  //Wait until active becomes true
+  long maxTime = 5000;
+  long startTime = millis();
+  while(i2cGNSS.getSurveyInActive(100) == false)
+  {
+    delay(100);
+    if(millis() - startTime > maxTime) return(false); //Reset of survey failed
+  }
+
   return (true);
 }
 
@@ -105,8 +116,20 @@ bool resetSurvey()
   response &= i2cGNSS.enableSurveyMode(1000, 400.000, maxWait); //Enable Survey in with bogus values
   delay(1000);
   response &= i2cGNSS.disableSurveyMode(maxWait); //Disable survey
-  delay(1000);
-  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)
+  {
+    delay(100);
+    if(millis() - startTime > maxTime) return(false); //Reset of survey failed
+  }
+
+  return(true);
 }
 
 //Start the base using fixed coordinates
@@ -126,9 +149,9 @@ bool startFixedBase()
     long majorEcefZ = floor((settings.fixedEcefZ * 100) + 0.5);
     long minorEcefZ = floor((((settings.fixedEcefZ * 100.0) - majorEcefZ) * 100.0) + 0.5);
 
-//    Serial.printf("fixedEcefY (should be -4716808.5807): %0.04f\n\r", settings.fixedEcefY);
-//    Serial.printf("major (should be -471680858): %ld\n\r", majorEcefY);
-//    Serial.printf("minor (should be -7): %ld\n\r", minorEcefY);
+    //    Serial.printf("fixedEcefY (should be -4716808.5807): %0.04f\n\r", settings.fixedEcefY);
+    //    Serial.printf("major (should be -471680858): %ld\n\r", majorEcefY);
+    //    Serial.printf("minor (should be -7): %ld\n\r", minorEcefY);
 
     //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
     //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -190,7 +190,7 @@ float battChangeRate = 0.0;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 //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_Surveyor/issues/18
 
-//#define COMPILE_BT 1 //Comment out to disable all Bluetooth
+#define COMPILE_BT 1 //Comment out to disable all Bluetooth
 
 #ifdef COMPILE_BT
 #include "src/BluetoothSerial/BluetoothSerial.h"

Firmware/RTK_Surveyor/States.ino

@@ -172,8 +172,13 @@ void updateSystemState()
               digitalWrite(pin_baseStatusLED, !digitalRead(pin_baseStatusLED));
           }
 
-          if (i2cGNSS.getSurveyInValid() == true) //Survey in complete
+          //Get the data once to avoid duplicate slow responses
+          svinObservationTime = i2cGNSS.getSurveyInObservationTime(100);
+          svinMeanAccuracy = i2cGNSS.getSurveyInMeanAccuracy(100);
+
+          if (i2cGNSS.getSurveyInValid(100) == true) //Survey in complete
           {
+            Serial.printf("obs time: %d\n\r", svinObservationTime);
             Serial.println(F("Base survey complete! RTCM now broadcasting."));
 
             if (productVariant == RTK_SURVEYOR)
@@ -184,10 +189,6 @@ void updateSystemState()
           }
           else
           {
-            //Get the data once to avoid duplicate slow responses
-            svinObservationTime = i2cGNSS.getSurveyInObservationTime(100);
-            svinMeanAccuracy = i2cGNSS.getSurveyInMeanAccuracy(100);
-            
             Serial.print(F("Time elapsed: "));
             Serial.print(svinObservationTime);
             Serial.print(F(" Accuracy: "));
@@ -250,7 +251,7 @@ void updateSystemState()
             }
             delay(1000);
           }
-#endif          
+#endif
         }
         break;
 
@@ -425,7 +426,7 @@ void updateSystemState()
             }
             delay(1000);
           }
-#endif          
+#endif
         }
         break;
 
@@ -529,7 +530,7 @@ void updateSystemState()
           {
             changeState(STATE_BASE_FIXED_WIFI_CONNECTED);
           }
-#endif          
+#endif
         }
         break;