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Merged
merged 9 commits into from
Apr 24, 2023
Merged

Add antenna short / open detection. Fix warning in Form.ino #439

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83d6d14
Add antenna status checking and icons
PaulZC Apr 21, 2023
6a3e645
Better short icon
PaulZC Apr 21, 2023
e828817
Ref Stn: antenna short and open detection needs u-blox v3.0.9
PaulZC Apr 21, 2023
ddd659a
Merge branch 'release_candidate' into Add_Ref_Stn_Ethernet
PaulZC Apr 21, 2023
cc1b813
Better Antenna_Open icon
PaulZC Apr 21, 2023
fa98e01
Display open/short during paintBaseTempSurveyStarted
PaulZC Apr 21, 2023
503f3f9
Better Antenna_Open icon
PaulZC Apr 21, 2023
922d435
Better antenna icons
PaulZC Apr 21, 2023
2ee2fa1
Merge branch 'release_candidate' into Add_Ref_Stn_Ethernet
nseidle Apr 24, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/compile-rtk-firmware.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ jobs:
[email protected]
[email protected]
[email protected]
"SparkFun u-blox GNSS v3"@3.0.8
"SparkFun u-blox GNSS v3"@3.0.9
"SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
"SparkFun LIS2DH12 Arduino Library"@1.0.3
"ESP32-OTA-Pull"@1.0.0
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17 changes: 17 additions & 0 deletions Firmware/RTK_Surveyor/Begin.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -754,6 +754,23 @@ void configureGNSS()
if (HAS_GNSS_TP_INT)
theGNSS.setAutoTIMTPcallbackPtr(&storeTIMTPdata); //Enable automatic TIM TP messages with callback to storeTIMTPdata

if (HAS_ANTENNA_SHORT_OPEN)
{
theGNSS.newCfgValset();

theGNSS.addCfgValset(UBLOX_CFG_HW_ANT_CFG_SHORTDET, 1); // Enable antenna short detection
theGNSS.addCfgValset(UBLOX_CFG_HW_ANT_CFG_OPENDET, 1); // Enable antenna open detection

if (theGNSS.sendCfgValset())
{
theGNSS.setAutoMONHWcallbackPtr(&storeMONHWdata); //Enable automatic MON HW messages with callback to storeMONHWdata
}
else
{
systemPrintln("Failed to configure GNSS antenna detection");
}
}

//Configuring the ZED can take more than 2000ms. We save configuration to
//ZED so there is no need to update settings unless user has modified
//the settings file or internal settings.
Expand Down
119 changes: 104 additions & 15 deletions Firmware/RTK_Surveyor/Display.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,10 @@
//Right bottom
#define ICON_LOGGING_NTP (1<<10)

//Left bottom
#define ICON_ANTENNA_SHORT (1<<11)
#define ICON_ANTENNA_OPEN (1<<12)

//----------------------------------------
//Locals
//----------------------------------------
Expand Down Expand Up @@ -140,6 +144,31 @@ void displayBatteryVsEthernet()
icons |= (blinking_icons & ICON_ETHERNET); //Top Right
}
}
void displaySivVsOpenShort()
{
if (!HAS_ANTENNA_SHORT_OPEN)
icons |= paintSIV();
else
{
if (aStatus == SFE_UBLOX_ANTENNA_STATUS_SHORT)
{
blinking_icons ^= ICON_ANTENNA_SHORT;
icons |= (blinking_icons & ICON_ANTENNA_SHORT);
}
else if (aStatus == SFE_UBLOX_ANTENNA_STATUS_OPEN)
{
blinking_icons ^= ICON_ANTENNA_OPEN;
icons |= (blinking_icons & ICON_ANTENNA_OPEN);
}
else
{
blinking_icons &= ~ICON_ANTENNA_SHORT;
blinking_icons &= ~ICON_ANTENNA_OPEN;
icons |= paintSIV();
}
}
}


//Given the system state, display the appropriate information
void updateDisplay()
Expand Down Expand Up @@ -218,41 +247,41 @@ void updateDisplay()
case (STATE_ROVER_NOT_STARTED):
icons = ICON_CROSS_HAIR //Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
case (STATE_ROVER_NO_FIX):
icons = ICON_CROSS_HAIR //Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
case (STATE_ROVER_FIX):
icons = ICON_CROSS_HAIR //Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
case (STATE_ROVER_RTK_FLOAT):
blinking_icons ^= ICON_CROSS_HAIR_DUAL;
icons = (blinking_icons & ICON_CROSS_HAIR_DUAL) //Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
case (STATE_ROVER_RTK_FIX):
icons = ICON_CROSS_HAIR_DUAL//Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
Expand All @@ -268,8 +297,8 @@ void updateDisplay()
blinking_icons ^= ICON_CROSS_HAIR;
icons = (blinking_icons & ICON_CROSS_HAIR) //Center left
| ICON_HORIZONTAL_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING; //Bottom right
displaySivVsOpenShort(); //Bottom left
displayBatteryVsEthernet(); //Top right
iconsRadio = setRadioIcons(); //Top left
break;
Expand Down Expand Up @@ -301,8 +330,8 @@ void updateDisplay()
case (STATE_NTPSERVER_NO_SYNC):
blinking_icons ^= ICON_CLOCK;
icons = (blinking_icons & ICON_CLOCK) //Center left
| ICON_CLOCK_ACCURACY //Center right
| paintSIV(); //Bottom left
| ICON_CLOCK_ACCURACY; //Center right
displaySivVsOpenShort(); //Bottom left
if (online.ethernetStatus == ETH_CONNECTED)
blinking_icons |= ICON_ETHERNET; //Don't blink if link is up
else
Expand All @@ -314,8 +343,8 @@ void updateDisplay()
case (STATE_NTPSERVER_SYNC):
icons = ICON_CLOCK //Center left
| ICON_CLOCK_ACCURACY //Center right
| paintSIV() //Bottom left
| ICON_LOGGING_NTP; //Bottom right
displaySivVsOpenShort(); //Bottom left
if (online.ethernetStatus == ETH_CONNECTED)
blinking_icons |= ICON_ETHERNET; //Don't blink if link is up
else
Expand Down Expand Up @@ -539,6 +568,10 @@ void updateDisplay()
displayBitmap(2, 35, SIV_Antenna_Width, SIV_Antenna_Height, SIV_Antenna);
else if (icons & ICON_SIV_ANTENNA_LBAND)
displayBitmap(2, 35, SIV_Antenna_LBand_Width, SIV_Antenna_LBand_Height, SIV_Antenna_LBand);
else if (icons & ICON_ANTENNA_SHORT)
displayBitmap(2, 35, Antenna_Short_Width, Antenna_Short_Height, Antenna_Short);
else if (icons & ICON_ANTENNA_OPEN)
displayBitmap(2, 35, Antenna_Open_Width, Antenna_Open_Height, Antenna_Open);

//Bottom right corner
if (icons & ICON_LOGGING)
Expand Down Expand Up @@ -1647,9 +1680,37 @@ void paintBaseTempSurveyStarted()
else
oled.print(">10");

oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("Time:");
if (!HAS_ANTENNA_SHORT_OPEN)
{
oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("Time:");
}
else
{
static uint32_t blinkers = 0;
if (aStatus == SFE_UBLOX_ANTENNA_STATUS_SHORT)
{
blinkers ^= ICON_ANTENNA_SHORT;
if (blinkers & ICON_ANTENNA_SHORT)
displayBitmap(2, 35, Antenna_Short_Width, Antenna_Short_Height, Antenna_Short);
}
else if (aStatus == SFE_UBLOX_ANTENNA_STATUS_OPEN)
{
blinkers ^= ICON_ANTENNA_OPEN;
if (blinkers & ICON_ANTENNA_OPEN)
displayBitmap(2, 35, Antenna_Open_Width, Antenna_Open_Height, Antenna_Open);
}
else
{
blinkers &= ~ICON_ANTENNA_SHORT;
blinkers &= ~ICON_ANTENNA_OPEN;
oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("Time:");
}
}


oled.setCursor(30, 36); //x, y
oled.setFont(QW_FONT_8X16);
Expand Down Expand Up @@ -1680,9 +1741,37 @@ void paintRTCM()
else
printTextCenter("Xmitting", yPos, QW_FONT_8X16, 1, false); //text, y, font type, kerning, inverted

oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("RTCM:");

if (!HAS_ANTENNA_SHORT_OPEN)
{
oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("RTCM:");
}
else
{
static uint32_t blinkers = 0;
if (aStatus == SFE_UBLOX_ANTENNA_STATUS_SHORT)
{
blinkers ^= ICON_ANTENNA_SHORT;
if (blinkers & ICON_ANTENNA_SHORT)
displayBitmap(2, 35, Antenna_Short_Width, Antenna_Short_Height, Antenna_Short);
}
else if (aStatus == SFE_UBLOX_ANTENNA_STATUS_OPEN)
{
blinkers ^= ICON_ANTENNA_OPEN;
if (blinkers & ICON_ANTENNA_OPEN)
displayBitmap(2, 35, Antenna_Open_Width, Antenna_Open_Height, Antenna_Open);
}
else
{
blinkers &= ~ICON_ANTENNA_SHORT;
blinkers &= ~ICON_ANTENNA_OPEN;
oled.setCursor(0, 39); //x, y
oled.setFont(QW_FONT_5X7);
oled.print("RTCM:");
}
}

if (rtcmPacketsSent < 100)
oled.setCursor(30, 36); //x, y - Give space for two digits
Expand Down
2 changes: 2 additions & 0 deletions Firmware/RTK_Surveyor/RTK_Surveyor.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -306,6 +306,8 @@ bool timTpUpdated = false;
uint32_t timTpEpoch;
uint32_t timTpMicros;

uint8_t aStatus = SFE_UBLOX_ANTENNA_STATUS_DONTKNOW;

const byte haeNumberOfDecimals = 8; //Used for printing and transmitting lat/lon
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

Expand Down
5 changes: 5 additions & 0 deletions Firmware/RTK_Surveyor/Rover.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -248,6 +248,11 @@ void storeTIMTPdata(UBX_TIM_TP_data_t *ubxDataStruct)
timTpUpdated = true;
}

void storeMONHWdata(UBX_MON_HW_data_t *ubxDataStruct)
{
aStatus = ubxDataStruct->aStatus;
}

//Helper method to convert GNSS time and date into Unix Epoch
void convertGnssTimeToEpoch(uint32_t *epochSecs, uint32_t *epochMicros)
{
Expand Down
4 changes: 4 additions & 0 deletions Firmware/RTK_Surveyor/System.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -626,6 +626,10 @@ bool setMessages(int maxRetries)
if (ubxMessages[messageNumber].msgID == UBX_NMEA_GGA)
if (rate == 0)
rate = 1;
if (ubxMessages[messageNumber].msgClass == UBX_CLASS_MON)
if (ubxMessages[messageNumber].msgID == UBX_MON_HW)
if (rate == 0)
rate = 1;
}

response &= theGNSS.addCfgValset(ubxMessages[messageNumber].msgConfigKey + spiOffset, rate);
Expand Down
58 changes: 58 additions & 0 deletions Firmware/RTK_Surveyor/icons.h
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Original file line number Diff line number Diff line change
Expand Up @@ -363,6 +363,64 @@ const uint8_t SIV_Antenna_LBand [] = {
0x00, 0x10, 0x10, 0x1F, 0x1F, 0x12, 0x12, 0x04, 0x04, 0x05, 0x06, 0x00
};

/*
Antenna_Short [12, 13]

1
123456789012
.------------.
0x01| * |
0x02| * |
0x04| * |
0x08| ** |
0x10| * * |
0x20| * ***** |
0x40| * * |
0x80| ***** * |
0x01| * * |
0x02| ** |
0x04| * |
0x08| * |
0x10| * |
'------------'
*/

const int Antenna_Short_Height = 13;
const int Antenna_Short_Width = 12;
const uint8_t Antenna_Short [] = {
0x00, 0x80, 0xC0, 0xA0, 0x90, 0x88, 0x3F, 0x20, 0xA0, 0x60, 0x20, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00
};

/*
Antenna_Open [12, 13]

1
123456789012
.------------.
0x01| ** |
0x02| ** |
0x04| ** |
0x08| ** |
0x10| ** |
0x20| ** |
0x40| ** ** |
0x80| ** |
0x01| ** |
0x02| ** |
0x04| ** |
0x08| ** |
0x10| ** |
'------------'
*/

const int Antenna_Open_Height = 13;
const int Antenna_Open_Width = 12;
const uint8_t Antenna_Open [] = {
0x00, 0x00, 0x00, 0x60, 0x70, 0x1F, 0x0F, 0xC0, 0xC0, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x1E, 0x1F, 0x01, 0x00, 0x00, 0x00, 0x00
};

/*
Rover_Fusion [15, 9]

Expand Down
3 changes: 3 additions & 0 deletions Firmware/RTK_Surveyor/settings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,9 @@ ProductVariant productVariant = RTK_SURVEYOR;
#define HAS_NO_BATTERY (productVariant == REFERENCE_STATION)
#define HAS_BATTERY (!HAS_NO_BATTERY)

//Macro to show if the the RTK variant has antenna short circuit / open circuit detection
#define HAS_ANTENNA_SHORT_OPEN (productVariant == REFERENCE_STATION)

typedef enum
{
BUTTON_ROVER = 0,
Expand Down