Merge pull request #282 from sparkfun/release_candidate

Add HAS/E6 support. Add NMEA output over USB.

Author: nseidle

.github/workflows/compile-rtk-everywhere.yml

@@ -6,7 +6,7 @@ on:
 env:
   FILENAME_PREFIX: RTK_Everywhere_Firmware
   FIRMWARE_VERSION_MAJOR: 1
-  FIRMWARE_VERSION_MINOR: 0
+  FIRMWARE_VERSION_MINOR: 1
   POINTPERFECT_LBAND_TOKEN: ${{ secrets.POINTPERFECT_LBAND_TOKEN }}
   POINTPERFECT_IP_TOKEN: ${{ secrets.POINTPERFECT_IP_TOKEN }}
   POINTPERFECT_LBAND_IP_TOKEN: ${{ secrets.POINTPERFECT_LBAND_IP_TOKEN }}

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -112,7 +112,7 @@
         <div align="center" class="row" style="display:block;">
 
             <div align="center" class="small left">
-                RTK Firmware: <span id="rtkFirmwareVersion" style="display:inline;">v0.0</span><br>
+                RTK Everywhere Firmware: <span id="rtkFirmwareVersion" style="display:inline;">v0.0</span><br>
                 <span id="gnssFirmwareVersion" style="display:inline;">GNSS Firmware: v0.0</span> <br>
                 <span id="deviceBTID" style="display:inline;">Device Bluetooth ID: 0000</span> <br>
                 <span id="coordinatesLLH" style="display:inline;">LLh:

Firmware/RTK_Everywhere/Begin.ino

@@ -139,8 +139,9 @@ void beginBoard()
         present.button_powerHigh = true; // Button is pressed when high
         present.beeper = true;
         present.gnss_to_uart = true;
-        present.antennaReferencePoint_mm = 102.0;
+        present.antennaReferencePoint_mm = 115.7;
         present.needsExternalPpl = true; // Uses the PointPerfect Library
+        present.galileoHasCapable = true;
 
 #ifdef COMPILE_IM19_IMU
         present.imu_im19 = true; // Allow tiltUpdate() to run
@@ -159,6 +160,7 @@ void beginBoard()
 
         pin_GNSS_TimePulse = 39; // PPS on UM980
 
+        pin_muxA = 18; //Controls U12 switch between ESP UART1 to UM980 or LoRa
         pin_usbSelect = 21;
         pin_powerAdapterDetect = 36; // Goes low when USB cable is plugged in
 
@@ -208,6 +210,9 @@ void beginBoard()
         pinMode(pin_usbSelect, OUTPUT);
         digitalWrite(pin_usbSelect, HIGH); // Keep CH340 connected to USB bus
 
+        pinMode(pin_muxA, OUTPUT);
+        digitalWrite(pin_muxA, LOW); // Keep ESP UART1 connected to UM980
+
         settings.dataPortBaud = 115200; // Override settings. Use UM980 at 115200bps.
 
         pinMode(pin_loraRadio_power, OUTPUT);
@@ -783,7 +788,7 @@ void pinGnssUartTask(void *pvParameters)
         serialGNSS = new HardwareSerial(2); // Use UART2 on the ESP32 for communication with the GNSS module
 
     serialGNSS->setRxBufferSize(
-        settings.uartReceiveBufferSize); // TODO: work out if we can reduce or skip this when using SPI GNSS
+        settings.uartReceiveBufferSize);
     serialGNSS->setTimeout(settings.serialTimeoutGNSS); // Requires serial traffic on the UART pins for detection
 
     if (pin_GnssUart_RX == -1 || pin_GnssUart_TX == -1)

Firmware/RTK_Everywhere/Developer.ino

@@ -177,6 +177,7 @@ void tiltUpdate() {}
 void tiltStop() {}
 void tiltSensorFactoryReset() {}
 bool tiltIsCorrecting() {return(false);}
+void tiltRequestStop() {}
 
 #endif  // COMPILE_IM19_IMU
 

Firmware/RTK_Everywhere/GNSS.ino

@@ -741,6 +741,40 @@ bool gnssIsRTKFloat()
     return (false);
 }
 
+bool gnssIsPppConverging()
+{
+    if (online.gnss == true)
+    {
+        if (present.gnss_zedf9p)
+        {
+            return (false);
+        }
+        else if (present.gnss_um980)
+        {
+            if (um980GetPositionType() == 68) // 68 = PPP solution converging
+                return (true);
+        }
+    }
+    return (false);
+}
+
+bool gnssIsPppConverged()
+{
+    if (online.gnss == true)
+    {
+        if (present.gnss_zedf9p)
+        {
+            return (false);
+        }
+        else if (present.gnss_um980)
+        {
+            if (um980GetPositionType() == 69) // 69 = Precision Point Positioning
+                return (true);
+        }
+    }
+    return (false);
+}
+
 float gnssGetHorizontalAccuracy()
 {
     if (online.gnss == true)

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -445,6 +445,29 @@ float batteryChargingPercentPerHour;
 #include "bluetoothSelect.h"
 #endif // COMPILE_BT
 
+// This value controls the data that is output from the USB serial port
+// to the host PC.  By default (false) status and debug messages are output
+// to the USB serial port.  When this value is set to true then the status
+// and debug messages are discarded and only GNSS data is output to USB
+// serial.
+//
+// Switching from status and debug messages to GNSS output is done in two
+// places, at the end of setup and at the end of maenuMain.  In both of
+// these places the new value comes from settings.enableGnssToUsbSerial.
+// Upon boot status and debug messages are output at least until the end
+// of setup.  Upon entry into menuMain, this value is set false to again
+// output menu output, status and debug messages to be output.  At the end
+// of setup the value is updated and if enabled GNSS data is sent to the
+// USB serial port and PC.
+volatile bool forwardGnssDataToUsbSerial;
+
+// Timeout between + characters to enter the +++ sequence while
+// forwardGnssDataToUsbSerial is true.  When sequence is properly entered
+// forwardGnssDataToUsbSerial is set to false and menuMain is displayed.
+// If the timeout between characters occurs or an invalid character is
+// entered then no changes are made and the +++ sequence must be re-entered.
+#define PLUS_PLUS_PLUS_TIMEOUT      (2 * 1000)  // Milliseconds
+
 #define platformPrefix platformPrefixTable[productVariant] // Sets the prefix for broadcast names
 
 #include <driver/uart.h>    //Required for uart_set_rx_full_threshold() on cores <v2.0.5
@@ -1113,6 +1136,10 @@ void setup()
         systemPrintf("%8d mSec: Total boot time\r\n", bootTime[bootTimeIndex]);
         systemPrintln();
     }
+
+    // If necessary, switch to sending GNSS data out the USB serial port
+    // to the PC
+    forwardGnssDataToUsbSerial = settings.enableGnssToUsbSerial;
 }
 
 void loop()

Firmware/RTK_Everywhere/System.ino

@@ -377,6 +377,10 @@ void printReports()
                     systemPrint("RTK Fix");
                 else if (gnssIsRTKFloat() == true)
                     systemPrint("RTK Float");
+                else if (gnssIsPppConverged() == true)
+                    systemPrint("PPP Converged");
+                else if (gnssIsPppConverging() == true)
+                    systemPrint("PPP Converging");
                 else if (gnssIsDgpsFixed() == true)
                     systemPrint("DGPS Fix");
                 else if (gnssIsFixed() == true)

Firmware/RTK_Everywhere/Tasks.ino

@@ -56,12 +56,13 @@ enum RingBufferConsumers
     RBC_TCP_SERVER,
     RBC_SD_CARD,
     RBC_UDP_SERVER,
+    RBC_USB_SERIAL,
     // Insert new consumers here
     RBC_MAX
 };
 
 const char *const ringBufferConsumer[] = {
-    "Bluetooth", "TCP Client", "TCP Server", "SD Card", "UDP Server",
+    "Bluetooth", "TCP Client", "TCP Server", "SD Card", "UDP Server", "USB Serial",
 };
 
 const int ringBufferConsumerEntries = sizeof(ringBufferConsumer) / sizeof(ringBufferConsumer[0]);
@@ -101,6 +102,7 @@ unsigned long lastGnssSend; // Timestamp of the last time we sent RTCM to GNSS
 // Ring buffer tails
 static RING_BUFFER_OFFSET btRingBufferTail; // BT Tail advances as it is sent over BT
 static RING_BUFFER_OFFSET sdRingBufferTail; // SD Tail advances as it is recorded to SD
+static RING_BUFFER_OFFSET usbRingBufferTail; // USB Tail advances as it is sent over USB serial
 
 // Ring buffer offsets
 static uint16_t rbOffsetHead;
@@ -898,6 +900,58 @@ void handleGnssDataTask(void *e)
             }
         }
 
+        //----------------------------------------------------------------------
+        // Send data over USB serial
+        //----------------------------------------------------------------------
+
+        startMillis = millis();
+
+        // Determine USB serial connection state
+        if (!forwardGnssDataToUsbSerial)
+            // Discard the data
+            usbRingBufferTail = dataHead;
+        else
+        {
+            // Determine the amount of USB serial data in the buffer
+            bytesToSend = dataHead - usbRingBufferTail;
+            if (bytesToSend < 0)
+                bytesToSend += settings.gnssHandlerBufferSize;
+            if (bytesToSend > 0)
+            {
+                // Reduce bytes to send if we have more to send then the end of
+                // the buffer, we'll wrap next loop
+                if ((usbRingBufferTail + bytesToSend) > settings.gnssHandlerBufferSize)
+                    bytesToSend = settings.gnssHandlerBufferSize - usbRingBufferTail;
+
+                // Send data over USB serial to the PC
+                bytesToSend = systemWriteGnssDataToUsbSerial(&ringBuffer[usbRingBufferTail], bytesToSend);
+
+                // Account for the data that was sent
+                if (bytesToSend > 0)
+                {
+                    // Account for the sent or dropped data
+                    usbRingBufferTail += bytesToSend;
+                    if (usbRingBufferTail >= settings.gnssHandlerBufferSize)
+                        usbRingBufferTail -= settings.gnssHandlerBufferSize;
+
+                    // Remember the maximum transfer time
+                    deltaMillis = millis() - startMillis;
+                    if (maxMillis[RBC_USB_SERIAL] < deltaMillis)
+                        maxMillis[RBC_USB_SERIAL] = deltaMillis;
+                }
+
+                // Determine the amount of data that remains in the buffer
+                bytesToSend = dataHead - usbRingBufferTail;
+                if (bytesToSend < 0)
+                    bytesToSend += settings.gnssHandlerBufferSize;
+                if (usedSpace < bytesToSend)
+                {
+                    usedSpace = bytesToSend;
+                    slowConsumer = "USB Serial";
+                }
+            }
+        }
+
         //----------------------------------------------------------------------
         // Send data to the network clients
         //----------------------------------------------------------------------
@@ -1150,9 +1204,6 @@ void tickerBluetoothLedUpdate()
 void tickerGnssLedUpdate()
 {
     static uint8_t ledCallCounter = 0; // Used to calculate a 50% or 10% on rate for blinking
-    // static int gnssFadeLevel = 0;      // Used to fade LED when needed
-    // static int gnssPwmFadeAmount = 255 / gnssTaskUpdatesHz; // Fade in/out with 20 steps, as limited by the ticker
-    // rate of 20Hz
 
     ledCallCounter++;
     ledCallCounter %= gnssTaskUpdatesHz; // Wrap to X calls per 1 second
@@ -1161,61 +1212,15 @@ void tickerGnssLedUpdate()
     {
         // Update the GNSS LED according to our state
 
-        // Solid once RTK Fix is achieved
-        if (gnssIsRTKFix() == true)
+        // Solid once RTK Fix is achieved, or PPP converges
+        if (gnssIsRTKFix() == true || gnssIsPppConverged())
         {
             ledcWrite(ledGnssChannel, 255);
         }
         else
         {
             ledcWrite(ledGnssChannel, 0);
         }
-
-        // // Solid during tilt corrected RTK fix
-        // if (tiltIsCorrecting() == true)
-        // {
-        //     ledcWrite(ledGnssChannel, 255);
-        // }
-        // else
-        // {
-        //     ledcWrite(ledGnssChannel, 0);
-        // }
-
-        // Fade on/off during RTK Fix
-        // else if (gnssIsRTKFix() == true)
-        // {
-        //     // Fade in/out the GNSS LED during RTK Fix
-        //     gnssFadeLevel += gnssPwmFadeAmount;
-        //     if (gnssFadeLevel <= 0 || gnssFadeLevel >= 255)
-        //         gnssPwmFadeAmount *= -1;
-
-        //     if (gnssFadeLevel > 255)
-        //         gnssFadeLevel = 255;
-        //     if (gnssFadeLevel < 0)
-        //         gnssFadeLevel = 0;
-
-        //     ledcWrite(ledGnssChannel, gnssFadeLevel);
-        // }
-
-        // // Blink 2Hz 50% during RTK float
-        // else if (gnssIsRTKFloat() == true)
-        // {
-        //     if (ledCallCounter <= (gnssTaskUpdatesHz / 2))
-        //         ledcWrite(ledGnssChannel, 255);
-        //     else
-        //         ledcWrite(ledGnssChannel, 0);
-        // }
-
-        // // Blink a short PPS when GNSS 3D fixed
-        // else if (gnssIsFixed() == true)
-        // {
-        //     if (ledCallCounter == (gnssTaskUpdatesHz / 10))
-        //     {
-        //         ledcWrite(ledGnssChannel, 255);
-        //     }
-        //     else
-        //         ledcWrite(ledGnssChannel, 0);
-        // }
     }
 }
 
@@ -1384,7 +1389,7 @@ void buttonCheckTask(void *e)
             // The user button only exits tilt mode
             if ((singleTap || doubleTap) && (tiltIsCorrecting() == true))
             {
-                tiltStop();
+                tiltRequestStop(); //Don't force the hardware off here as it may be in use in another task
             }
 
             else if (doubleTap)