Merge branch 'release_candidate' into pcUpdates

Author: PaulZC

Firmware/RTK_Everywhere/Developer.ino

@@ -277,7 +277,6 @@ void pointperfectPrintKeyInformation(const char *requestedBy) {systemPrintln("**
 #ifndef COMPILE_LG290P
 
 void lg290pHandler(uint8_t * buffer, int length) {}
-void lg290pModifyGst(char *nmeaSentence, uint16_t *sentenceLength) {}
 
 #endif // COMPILE_LG290P
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -2229,137 +2229,3 @@ bool lg290pMessageEnabled(char *nmeaSentence, int sentenceLength)
     // If we can't ID this message, allow it by default. The device configuration should control most message flow.
     return (true);
 }
-
-// Re-create the GST sentence to increase the horizontal and vertical precision number of decimals
-// ie, 0.0 becomes 0.009
-// See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/513
-// $GNGST,223954.500,1.7,1.5,1.0,109.3,1.412,1.055,2.4*7E
-// Modifies the sentence length with new length
-void lg290pModifyGst(char *nmeaSentence, uint16_t *sentenceLength)
-{
-    // This issue currently only applies to LG290P firmware version 4
-    // Version 3 does not support GST messages. Version 5 should fix the issue.
-    if (lg290pFirmwareVersion != 4)
-        return;
-
-    if (online.gnss == false)
-        return;
-
-    // Only apply the GST patch if our HPA is very small (<0.1m), ie RTK Float or Fix.
-    if (gnss->isRTKFix() == false && gnss->isRTKFloat() == false)
-        return;
-
-    GNSS_LG290P *lg290p = (GNSS_LG290P *)gnss;
-
-    // Identify sentence type
-    char sentenceType[strlen("GST") + 1] = {0};
-    strncpy(sentenceType, &nmeaSentence[3],
-            3); // Copy three letters, starting in spot 3. Null terminated from array initializer.
-
-    // We only care about GST sentences
-    if (strncmp(sentenceType, "GST", sizeof(sentenceType)) != 0)
-        return;
-
-    const int latitudeErrorComma = 6;
-    const int longitudeErrorComma = 7;
-    const int altitudeErrorComma = 8;
-
-    uint8_t latitudeStart = 0;
-    uint8_t latitudeStop = 0;
-    uint8_t longitudeStart = 0;
-    uint8_t longitudeStop = 0;
-    uint8_t altitudeStart = 0;
-    uint8_t checksumStart = 0;
-
-    if (settings.enableImuCompensationDebug == true && !inMainMenu)
-        systemPrintf("Original GNGST:\r\n%s\r\n", nmeaSentence);
-
-    int commaCount = 0;
-    for (int x = 0; x < strnlen(nmeaSentence, *sentenceLength); x++) // Assumes sentence is null terminated
-    {
-        if (nmeaSentence[x] == ',')
-        {
-            commaCount++;
-            if (commaCount == latitudeErrorComma)
-                latitudeStart = x + 1;
-            if (commaCount == latitudeErrorComma + 1)
-                latitudeStop = x;
-            if (commaCount == longitudeErrorComma)
-                longitudeStart = x + 1;
-            if (commaCount == longitudeErrorComma + 1)
-                longitudeStop = x;
-            if (commaCount == altitudeErrorComma)
-                altitudeStart = x + 1;
-        }
-        if (nmeaSentence[x] == '*')
-        {
-            checksumStart = x;
-            break;
-        }
-    }
-
-    if (latitudeStart == 0 || latitudeStop == 0 || longitudeStart == 0 || longitudeStop == 0 || altitudeStart == 0 ||
-        checksumStart == 0)
-    {
-        systemPrintln("Delineator not found");
-        return;
-    }
-
-    char newSentence[150] = {0};
-
-    if (sizeof(newSentence) < *sentenceLength)
-    {
-        systemPrintln("newSentence not big enough!");
-        return;
-    }
-
-    char errorString[strlen("0.000") + 1] = {0};
-
-    // strncat terminates
-
-    // Add start of message up to latitude
-    strncat(newSentence, nmeaSentence, latitudeStart);
-
-    // Convert error from EPE message to string. We don't have pure lat error, only 2D and 3D.
-    snprintf(errorString, sizeof(errorString), "%0.3f", lg290p->getHorizontalAccuracy());
-
-    // Add latitude error
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Add interstitial between end of lat and beginning of lon
-    strncat(newSentence, nmeaSentence + latitudeStop, longitudeStart - latitudeStop);
-
-    // Add same error for longitude error
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Add interstitial between end of lon and beginning of alt
-    strncat(newSentence, nmeaSentence + longitudeStop, altitudeStart - longitudeStop);
-
-    // Convert error from EPE message to string. We don't have pure altitude error, use double 2D error as stand-in.
-    snprintf(errorString, sizeof(errorString), "%0.3f", lg290p->getHorizontalAccuracy() * 2);
-
-    // Add altitude error. We don't really have altitude so use 3D error in its place.
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // From: http://engineeringnotes.blogspot.com/2015/02/generate-crc-for-nmea-strings-arduino.html
-    byte CRC = 0; // XOR chars between '$' and '*'
-    for (byte x = 1; x < strlen(newSentence); x++)
-        CRC = CRC ^ newSentence[x];
-
-    // Convert CRC to string, add * and CR LF
-    snprintf(errorString, sizeof(errorString), "*%02X\r\n", CRC);
-
-    // Add CRC
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Increase length of sentence
-    *sentenceLength = strlen(newSentence);
-
-    // Overwrite the original NMEA
-    strncpy(nmeaSentence, newSentence, *sentenceLength);
-
-    nmeaSentence[*sentenceLength] = '\0'; // Terminate string
-
-    if (settings.enableImuCompensationDebug == true && !inMainMenu)
-        systemPrintf("Corrected GNGST:\r\n%s\r\n", nmeaSentence);
-}

Firmware/RTK_Everywhere/NVM.ino

@@ -615,6 +615,17 @@ void recordSystemSettingsToFile(File *settingsFile)
             }
         }
         break;
+        case tLgMRPqtm: {
+            // Record LG290P PQTM rates
+            for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
+            {
+                char tempString[50]; // lg290pMessageRatesPQTM_EPE=1
+                snprintf(tempString, sizeof(tempString), "%s%s=%d", rtkSettingsEntries[i].name,
+                         lgMessagesPQTM[x].msgTextName, settings.lg290pMessageRatesPQTM[x]);
+                settingsFile->println(tempString);
+            }
+        }
+        break;
         case tLgConst: {
             // Record LG290P Constellations
             for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
@@ -1480,6 +1491,19 @@ bool parseLine(char *str)
                 }
             }
             break;
+            case tLgMRPqtm: {
+                for (int x = 0; x < qualifier; x++)
+                {
+                    if ((suffix[0] == lgMessagesPQTM[x].msgTextName[0]) &&
+                        (strcmp(suffix, lgMessagesPQTM[x].msgTextName) == 0))
+                    {
+                        settings.lg290pMessageRatesPQTM[x] = d;
+                        knownSetting = true;
+                        break;
+                    }
+                }
+            }
+            break;
             case tLgConst: {
                 for (int x = 0; x < qualifier; x++)
                 {

Firmware/RTK_Everywhere/Tasks.ino

@@ -650,9 +650,6 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
                 parse->buffer[0] = 0;
                 parse->length = 0;
             }
-
-            // Gimme three decimals!
-            lg290pModifyGst((char *)parse->buffer, &parse->length);
         }
     }
 

Firmware/RTK_Everywhere/form.h

@@ -26,7 +26,7 @@
 //  python main_js_zipper.py
 
 static const uint8_t main_js[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x8C, 0x6B, 0xAB, 0x67, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
+  0x1F, 0x8B, 0x08, 0x08, 0xDC, 0xC8, 0xAF, 0x67, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
   0x73, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0xFD, 0x5E, 0xDC, 0x3A, 0x92, 0xE8, 0xFF,
   0x79, 0x0A, 0x4D, 0xDF, 0xB9, 0x03, 0x0C, 0x4D, 0xE3, 0x6E, 0x3E, 0x02, 0x21, 0x64, 0x2F, 0x01,
   0x92, 0x70, 0x07, 0x08, 0x97, 0x26, 0xE7, 0x9C, 0x9C, 0x6C, 0x96, 0x35, 0x6D, 0xD1, 0x78, 0xD3,
@@ -1049,7 +1049,7 @@ static const uint8_t main_js[] PROGMEM = {
 //  python index_html_zipper.py
 
 static const uint8_t index_html[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x8C, 0x6B, 0xAB, 0x67, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
+  0x1F, 0x8B, 0x08, 0x08, 0xDC, 0xC8, 0xAF, 0x67, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
   0x68, 0x74, 0x6D, 0x6C, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0x59, 0x76, 0xDB, 0xCA,
   0x92, 0xE0, 0xFF, 0x5D, 0x45, 0x16, 0xAB, 0xBB, 0x2C, 0x57, 0x8B, 0x14, 0x48, 0x4A, 0xB2, 0xAC,
   0x67, 0xEB, 0x1C, 0x8D, 0xB6, 0xFA, 0x49, 0x32, 0x4B, 0x94, 0xDF, 0x1D, 0xFA, 0x74, 0xDF, 0x03,

Firmware/RTK_Everywhere/menuCommands.ino

@@ -1076,6 +1076,19 @@ SettingValueResponse updateSettingWithValue(bool inCommands, const char *setting
             }
         }
         break;
+        case tLgMRPqtm: {
+            for (int x = 0; x < qualifier; x++)
+            {
+                if ((suffix[0] == lgMessagesPQTM[x].msgTextName[0]) &&
+                    (strcmp(suffix, lgMessagesPQTM[x].msgTextName) == 0))
+                {
+                    settings.lg290pMessageRatesPQTM[x] = settingValue;
+                    knownSetting = true;
+                    break;
+                }
+            }
+        }
+        break;
         case tLgConst: {
             for (int x = 0; x < qualifier; x++)
             {
@@ -1868,6 +1881,17 @@ void createSettingsString(char *newSettings)
                 }
             }
             break;
+            case tLgMRPqtm: {
+                // Record LG290P PQTM rates
+                for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
+                {
+                    char tempString[50]; // lg290pMessageRatesPQTM_EPE=1 Not a float
+                    snprintf(tempString, sizeof(tempString), "%s%s,%d,", rtkSettingsEntries[i].name,
+                             lgMessagesPQTM[x].msgTextName, settings.lg290pMessageRatesPQTM[x]);
+                    stringRecord(newSettings, tempString);
+                }
+            }
+            break;
             case tLgConst: {
                 // Record LG290P Constellations
                 // lg290pConstellations are uint8_t, but here we have to convert to bool (true / false) so the web page
@@ -2732,6 +2756,19 @@ SettingValueResponse getSettingValue(bool inCommands, const char *settingName, c
             }
         }
         break;
+        case tLgMRPqtm: {
+            for (int x = 0; x < qualifier; x++)
+            {
+                if ((suffix[0] == lgMessagesPQTM[x].msgTextName[0]) &&
+                    (strcmp(suffix, lgMessagesPQTM[x].msgTextName) == 0))
+                {
+                    writeToString(settingValueStr, settings.lg290pMessageRatesPQTM[x]);
+                    knownSetting = true;
+                    break;
+                }
+            }
+        }
+        break;
         case tLgConst: {
             for (int x = 0; x < qualifier; x++)
             {
@@ -3278,6 +3315,18 @@ void commandList(bool inCommands, int i)
         }
     }
     break;
+    case tLgMRPqtm: {
+        // Record LG290P PQTM rates
+        for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
+        {
+            snprintf(settingName, sizeof(settingName), "%s%s", rtkSettingsEntries[i].name,
+                     lgMessagesPQTM[x].msgTextName);
+
+            getSettingValue(inCommands, settingName, settingValue);
+            commandSendExecuteListResponse(settingName, "uint8_t", settingValue);
+        }
+    }
+    break;
     case tLgConst: {
         // Record LG290P Constellations
         for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)

Firmware/RTK_Everywhere/settings.h

@@ -1073,6 +1073,7 @@ typedef enum {
     tLgMRNmea,
     tLgMRRvRT,
     tLgMRBaRT,
+    tLgMRPqtm,
     tLgConst,
     // Add new settings types above <---------------->
     // (Maintain the enum of existing settings types!)
@@ -1616,7 +1617,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRNmea, MAX_LG290P_NMEA_MSG, & settings.lg290pMessageRatesNMEA, "messageRateNMEA_",  },
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRBaRT, MAX_LG290P_RTCM_MSG, & settings.lg290pMessageRatesRTCMBase, "messageRateRTCMBase_",  },
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRRvRT, MAX_LG290P_RTCM_MSG, & settings.lg290pMessageRatesRTCMRover, "messageRateRTCMRover_",  },
-    { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRNmea, MAX_LG290P_PQTM_MSG, & settings.lg290pMessageRatesPQTM, "messageRatePQTM_",  },
+    { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRPqtm, MAX_LG290P_PQTM_MSG, & settings.lg290pMessageRatesPQTM, "messageRatePQTM_",  },
 #endif  // COMPILE_LG290P
 
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, _bool,     0, & settings.debugSettings, "debugSettings",  },