Merge pull request #33 from sparkfun/release_candidate

v1.3 Release - Improve logging options and stability

Author: nseidle

Binaries/For_SD_Loading/RTK_Surveyor_Firmware_v13.bin

@@ -5,9 +5,12 @@ bool configureUbloxModuleBase()
   bool response = true;
   int maxWait = 2000;
 
-  digitalWrite(positionAccuracyLED_1cm, LOW);
-  digitalWrite(positionAccuracyLED_10cm, LOW);
-  digitalWrite(positionAccuracyLED_100cm, LOW);
+  if (productVariant == RTK_SURVEYOR)
+  {
+    digitalWrite(pin_positionAccuracyLED_1cm, LOW);
+    digitalWrite(pin_positionAccuracyLED_10cm, LOW);
+    digitalWrite(pin_positionAccuracyLED_100cm, LOW);
+  }
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
@@ -116,22 +119,23 @@ bool startFixedBase()
   {
     //Break ECEF into main and high precision parts
     //The type casting should not effect rounding of original double cast coordinate
-    long majorEcefX = settings.fixedEcefX * 100;
-    long minorEcefX = ((settings.fixedEcefX * 100.0) - majorEcefX) * 100.0;
-    long majorEcefY = settings.fixedEcefY * 100;
-    long minorEcefY = ((settings.fixedEcefY * 100.0) - majorEcefY) * 100.0;
-    long majorEcefZ = settings.fixedEcefZ * 100;
-    long minorEcefZ = ((settings.fixedEcefZ * 100.0) - majorEcefZ) * 100.0;
+    long majorEcefX = floor((settings.fixedEcefX * 100.0) + 0.5);
+    long minorEcefX = floor((((settings.fixedEcefX * 100.0) - majorEcefX) * 100.0) + 0.5);
+    long majorEcefY = floor((settings.fixedEcefY * 100) + 0.5);
+    long minorEcefY = floor((((settings.fixedEcefY * 100.0) - majorEcefY) * 100.0) + 0.5);
+    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): %d\n\r", majorEcefY);
-    //    Serial.printf("minor (should be -7): %d\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...
     response = i2cGNSS.setStaticPosition(majorEcefX, minorEcefX,
                                          majorEcefY, minorEcefY,
                                          majorEcefZ, minorEcefZ,
+                                         false,
                                          maxWait
                                         ); //With high precision 0.1mm parts
   }

Binaries/RTK_Surveyor_Firmware_v13_combined.bin

@@ -0,0 +1,344 @@
+//Initial startup functions for GNSS, SD, display, radio, etc
+
+//Based on hardware features, determine if this is RTK Surveyor or RTK Express hardware
+//Must be called after Wire.begin so that we can do I2C tests
+void beginBoard()
+{
+  productVariant = RTK_SURVEYOR;
+  if (isConnected(0x19) == true) //Check for accelerometer
+  {
+    productVariant = RTK_EXPRESS;
+  }
+  else if (analogRead(35) > 400 && analogRead(35) < 600)
+  {
+    productVariant = RTK_FACET;
+  }
+
+  //Setup hardware pins
+  if (productVariant == RTK_SURVEYOR)
+  {
+    pin_batteryLevelLED_Red = 32;
+    pin_batteryLevelLED_Green = 33;
+    pin_positionAccuracyLED_1cm = 2;
+    pin_positionAccuracyLED_10cm = 15;
+    pin_positionAccuracyLED_100cm = 13;
+    pin_baseStatusLED = 4;
+    pin_bluetoothStatusLED = 12;
+    pin_baseSwitch = 5;
+    pin_microSD_CS = 25;
+    pin_zed_tx_ready = 26;
+    pin_zed_reset = 27;
+    pin_batteryLevel_alert = 36;
+
+    strcpy(platformFilePrefix, "SFE_Surveyor");
+    strcpy(platformPrefix, "Surveyor");
+  }
+  else if (productVariant == RTK_EXPRESS)
+  {
+    pin_muxA = 2;
+    pin_muxB = 4;
+    pin_powerSenseAndControl = 13;
+    pin_setupButton = 14;
+    pin_microSD_CS = 25;
+    pin_dac26 = 26;
+    pin_powerFastOff = 27;
+    pin_adc39 = 39;
+
+    pinMode(pin_powerSenseAndControl, INPUT_PULLUP);
+    pinMode(pin_powerFastOff, INPUT);
+
+    if (esp_reset_reason() == ESP_RST_POWERON)
+    {
+      powerOnCheck(); //Only do check if we POR start
+    }
+
+    pinMode(pin_setupButton, INPUT_PULLUP);
+
+    setMuxport(settings.dataPortChannel); //Set mux to user's choice: NMEA, I2C, PPS, or DAC
+
+    strcpy(platformFilePrefix, "SFE_Express");
+    strcpy(platformPrefix, "Express");
+  }
+  else if (productVariant == RTK_FACET)
+  {
+    //v10
+    pin_muxA = 2;
+    pin_muxB = 0;
+    pin_powerSenseAndControl = 13;
+    pin_peripheralPowerControl = 14;
+    pin_microSD_CS = 25;
+    pin_dac26 = 26;
+    pin_powerFastOff = 27;
+    pin_adc39 = 39;
+
+    pinMode(pin_powerSenseAndControl, INPUT_PULLUP);
+    pinMode(pin_powerFastOff, INPUT);
+
+    if (esp_reset_reason() == ESP_RST_POWERON)
+    {
+      powerOnCheck(); //Only do check if we POR start
+    }
+
+    digitalWrite(pin_peripheralPowerControl, HIGH); //Turn on SD, ZED, etc
+
+    setMuxport(settings.dataPortChannel); //Set mux to user's choice: NMEA, I2C, PPS, or DAC
+
+    strcpy(platformFilePrefix, "SFE_Facet");
+    strcpy(platformPrefix, "Facet");
+  }
+
+  Serial.printf("SparkFun RTK %s v%d.%d-%s\r\n", platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
+
+  //For all boards, check reset reason. If reset was do to wdt or panic, append last log
+  if (esp_reset_reason() == ESP_RST_POWERON)
+  {
+    reuseLastLog = false; //Start new log
+  }
+  else
+  {
+    reuseLastLog = true; //Attempt to reuse previous log
+
+    Serial.print("Reset reason: ");
+    switch (esp_reset_reason())
+    {
+      case ESP_RST_UNKNOWN: Serial.println(F("ESP_RST_UNKNOWN")); break;
+      case ESP_RST_POWERON : Serial.println(F("ESP_RST_POWERON")); break;
+      case ESP_RST_SW : Serial.println(F("ESP_RST_SW")); break;
+      case ESP_RST_PANIC : Serial.println(F("ESP_RST_PANIC")); break;
+      case ESP_RST_INT_WDT : Serial.println(F("ESP_RST_INT_WDT")); break;
+      case ESP_RST_TASK_WDT : Serial.println(F("ESP_RST_TASK_WDT")); break;
+      case ESP_RST_WDT : Serial.println(F("ESP_RST_WDT")); break;
+      case ESP_RST_DEEPSLEEP : Serial.println(F("ESP_RST_DEEPSLEEP")); break;
+      case ESP_RST_BROWNOUT : Serial.println(F("ESP_RST_BROWNOUT")); break;
+      case ESP_RST_SDIO : Serial.println(F("ESP_RST_SDIO")); break;
+      default : Serial.println(F("Unknown"));
+    }
+  }
+}
+
+void beginSD()
+{
+  pinMode(pin_microSD_CS, OUTPUT);
+  digitalWrite(pin_microSD_CS, HIGH); //Be sure SD is deselected
+
+  if (settings.enableSD == true)
+  {
+    //Max power up time is 250ms: https://www.kingston.com/datasheets/SDCIT-specsheet-64gb_en.pdf
+    //Max current is 200mA average across 1s, peak 300mA
+    delay(10);
+
+    if (sd.begin(SdSpiConfig(pin_microSD_CS, DEDICATED_SPI, SD_SCK_MHZ(settings.spiFrequency), &spi)) == false)
+    {
+      int tries = 0;
+      int maxTries = 2;
+      for ( ; tries < maxTries ; tries++)
+      {
+        Serial.printf("SD init failed. Trying again %d out of %d\n\r", tries + 1, maxTries);
+
+        delay(250); //Give SD more time to power up, then try again
+        if (sd.begin(SdSpiConfig(pin_microSD_CS, DEDICATED_SPI, SD_SCK_MHZ(settings.spiFrequency), &spi)) == true) break;
+      }
+
+      if (tries == maxTries)
+      {
+        Serial.println(F("SD init failed. Is card present? Formatted?"));
+        digitalWrite(pin_microSD_CS, HIGH); //Be sure SD is deselected
+        online.microSD = false;
+        return;
+      }
+    }
+
+    //Change to root directory. All new file creation will be in root.
+    if (sd.chdir() == false)
+    {
+      Serial.println(F("SD change directory failed"));
+      online.microSD = false;
+      return;
+    }
+
+    //Setup FAT file access semaphore
+    if (xFATSemaphore == NULL)
+    {
+      xFATSemaphore = xSemaphoreCreateMutex();
+      if (xFATSemaphore != NULL)
+        xSemaphoreGive(xFATSemaphore);  //Make the file system available for use
+    }
+
+    if (createTestFile() == false)
+    {
+      Serial.println(F("Failed to create test file. Format SD card with 'SD Card Formatter'."));
+      displaySDFail(5000);
+      online.microSD = false;
+      return;
+    }
+
+    online.microSD = true;
+  }
+  else
+  {
+    online.microSD = false;
+  }
+}
+
+//We do not start the UART2 for GNSS->BT reception here because the interrupts would be pinned to core 1
+//competing with I2C interrupts
+//See issue: https://github.com/espressif/arduino-esp32/issues/3386
+//We instead start a task that runs on core 0, that then begins serial
+void beginUART2()
+{
+  if (startUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
+      startUART2Task,
+      "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.
+      &startUART2TaskHandle, //Task handle
+      0); //Core where task should run, 0=core, 1=Arduino
+
+  while (uart2Started == false) //Wait for task to run once
+    delay(1);
+}
+
+//ESP32 requires the creation of an EEPROM space
+void beginEEPROM()
+{
+  if (EEPROM.begin(EEPROM_SIZE) == false)
+    Serial.println(F("beginEEPROM: Failed to initialize EEPROM"));
+  else
+    online.eeprom = true;
+}
+
+void beginDisplay()
+{
+  //0x3D is default on Qwiic board
+  if (isConnected(0x3D) == true || isConnected(0x3C) == true)
+  {
+    online.display = true;
+
+    oled.setI2CTransactionSize(64); //Increase to page size of 64. Slight speed improvement over 32 bytes.
+
+    displaySplash();
+  }
+}
+
+//Connect to and configure ZED-F9P
+void beginGNSS()
+{
+  if (i2cGNSS.begin() == false)
+  {
+    //Try again with power on delay
+    delay(1000); //Wait for ZED-F9P to power up before it can respond to ACK
+    if (i2cGNSS.begin() == false)
+    {
+      Serial.println(F("u-blox GNSS not detected at default I2C address. Hard stop."));
+      displayGNSSFail(0);
+      blinkError(ERROR_NO_I2C);
+    }
+  }
+
+  //Increase transactions to reduce transfer time
+  i2cGNSS.i2cTransactionSize = 128;
+
+  //Check the firmware version of the ZED-F9P. Based on Example21_ModuleInfo.
+  //  if (i2cGNSS.getModuleInfo(1100) == true) // Try to get the module info
+  //  {
+  //    if (strcmp(i2cGNSS.minfo.extension[1], latestZEDFirmware) != 0)
+  //    {
+  //      Serial.print(F("The ZED-F9P appears to have outdated firmware. Found: "));
+  //      Serial.println(i2cGNSS.minfo.extension[1]);
+  //      Serial.print(F("The Surveyor works best with "));
+  //      Serial.println(latestZEDFirmware);
+  //      Serial.print(F("Please upgrade using u-center."));
+  //      Serial.println();
+  //    }
+  //    else
+  //    {
+  //      Serial.println(F("ZED-F9P firmware is current"));
+  //    }
+  //  }
+
+  bool response = configureUbloxModule();
+  if (response == false)
+  {
+    //Try once more
+    Serial.println(F("Failed to configure module. Trying again."));
+    delay(1000);
+    response = configureUbloxModule();
+
+    if (response == false)
+    {
+      Serial.println(F("Failed to configure module. Hard stop."));
+      blinkError(ERROR_GPS_CONFIG_FAIL);
+    }
+  }
+
+  Serial.println(F("GNSS configuration complete"));
+
+  online.gnss = true;
+}
+
+//Set LEDs for output and configure PWM
+void beginLEDs()
+{
+  if (productVariant == RTK_SURVEYOR)
+  {
+    pinMode(pin_positionAccuracyLED_1cm, OUTPUT);
+    pinMode(pin_positionAccuracyLED_10cm, OUTPUT);
+    pinMode(pin_positionAccuracyLED_100cm, OUTPUT);
+    pinMode(pin_baseStatusLED, OUTPUT);
+    pinMode(pin_bluetoothStatusLED, OUTPUT);
+    pinMode(pin_baseSwitch, INPUT_PULLUP); //HIGH = rover, LOW = base
+
+    digitalWrite(pin_positionAccuracyLED_1cm, LOW);
+    digitalWrite(pin_positionAccuracyLED_10cm, LOW);
+    digitalWrite(pin_positionAccuracyLED_100cm, LOW);
+    digitalWrite(pin_baseStatusLED, LOW);
+    digitalWrite(pin_bluetoothStatusLED, LOW);
+
+    ledcSetup(ledRedChannel, freq, resolution);
+    ledcSetup(ledGreenChannel, freq, resolution);
+
+    ledcAttachPin(pin_batteryLevelLED_Red, ledRedChannel);
+    ledcAttachPin(pin_batteryLevelLED_Green, ledGreenChannel);
+
+    ledcWrite(ledRedChannel, 0);
+    ledcWrite(ledGreenChannel, 0);
+  }
+}
+
+//Configure the on board MAX17048 fuel gauge
+void beginFuelGauge()
+{
+  // Set up the MAX17048 LiPo fuel gauge
+  if (lipo.begin() == false)
+  {
+    Serial.println(F("MAX17048 not detected. Continuing."));
+    return;
+  }
+
+  //Always use hibernate mode
+  if (lipo.getHIBRTActThr() < 0xFF) lipo.setHIBRTActThr((uint8_t)0xFF);
+  if (lipo.getHIBRTHibThr() < 0xFF) lipo.setHIBRTHibThr((uint8_t)0xFF);
+
+  Serial.println(F("MAX17048 configuration complete"));
+
+  online.battery = true;
+}
+
+//Begin accelerometer if available
+void beginAccelerometer()
+{
+  if (accel.begin() == false)
+  {
+    online.accelerometer = false;
+    return;
+  }
+
+  //The larger the avgAmount the faster we should read the sensor
+  //accel.setDataRate(LIS2DH12_ODR_100Hz); //6 measurements a second
+  accel.setDataRate(LIS2DH12_ODR_400Hz); //25 measurements a second
+
+  Serial.println(F("Accelerometer configuration complete"));
+
+  online.accelerometer = true;
+}