Merge branch 'release_candidate' into AddTorchX2

Author: nseidle

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

@@ -86,7 +86,7 @@ jobs:
           "SdFat"@2.1.1
           "SparkFun LIS2DH12 Arduino Library"@1.0.3
           "SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
-          "SparkFun u-blox GNSS v3"@3.1.8
+          "SparkFun u-blox GNSS v3"@3.1.10
           "SparkFun Qwiic OLED Arduino Library"@1.0.13
           SSLClientESP32@2.0.0
           "SparkFun Extensible Message Parser"@1.0.4
@@ -97,7 +97,7 @@ jobs:
           "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.5
           "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
           "SparkFun I2C Expander Arduino Library"@1.0.1
-          "SparkFun Apple Accessory Arduino Library"@1.0.1
+          "SparkFun Apple Accessory Arduino Library"@3.0.8
           "SparkFun Authentication Coprocessor Arduino Library"@1.0.0
           "SparkFun Toolkit"@1.0.6
 

.github/workflows/non-release-build.yml

@@ -86,7 +86,7 @@ jobs:
           "SdFat"@2.1.1
           "SparkFun LIS2DH12 Arduino Library"@1.0.3
           "SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
-          "SparkFun u-blox GNSS v3"@3.1.8
+          "SparkFun u-blox GNSS v3"@3.1.10
           "SparkFun Qwiic OLED Arduino Library"@1.0.13
           SSLClientESP32@2.0.0
           "SparkFun Extensible Message Parser"@1.0.4
@@ -97,7 +97,7 @@ jobs:
           "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.5
           "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
           "SparkFun I2C Expander Arduino Library"@1.0.1
-          "SparkFun Apple Accessory Arduino Library"@1.0.1
+          "SparkFun Apple Accessory Arduino Library"@3.0.8
           "SparkFun Authentication Coprocessor Arduino Library"@1.0.0
           "SparkFun Toolkit"@1.0.6
 

Firmware/RTK_Everywhere/AuthCoPro.ino

@@ -55,7 +55,12 @@ void beginAuthCoPro(TwoWire *i2cBus)
     latestGPGGA = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
     latestGPRMC = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
     latestGPGST = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
-    appleAccessory->setNMEApointers(latestGPGGA, latestGPRMC, latestGPGST);
+    latestGPVTG = (char *)rtkMalloc(latestNmeaMaxLen, "AuthCoPro");
+    appleAccessory->setNMEApointers(latestGPGGA, latestGPRMC, latestGPGST, latestGPVTG);
+
+    // Pass the pointer for additional GSA / GSV EA Session data
+    latestEASessionData = (char *)rtkMalloc(latestEASessionDataMaxLen, "AuthCoPro");
+    appleAccessory->setEASessionPointer(latestEASessionData);
 
     // Pass the transport connected and disconnect methods into the accessory driver
     appleAccessory->setTransportConnectedMethod(&transportConnected);
@@ -89,7 +94,9 @@ void updateAuthCoPro()
             appleAccessory->update(); // Update the Accessory driver
 
             // Check for a new device connection
-            if (bluetoothSerialSpp->aclConnected() == true && bluetoothSerialSpp->connected() == false)
+            // Note: aclConnected is a one-shot
+            //       The internal flag is automatically cleared when aclConnected returns true
+            if (bluetoothSerialSpp->aclConnected() == true)
             {
                 // //
                 // https://github.com/espressif/arduino-esp32/blob/master/libraries/BluetoothSerial/examples/DiscoverConnect/DiscoverConnect.ino

Firmware/RTK_Everywhere/Begin.ino

@@ -717,7 +717,7 @@ void beginBoard()
         present.brand = BRAND_SPARKPNT;
         present.psram_2mb = true;
         present.gnss_lg290p = true;
-        present.antennaPhaseCenter_mm = 42.0; // Default to SPK6618H APC, average of L1/L2
+        present.antennaPhaseCenter_mm = 37.5; // APC of SPK-6E helical L1/L2/L5 antenna
         present.needsExternalPpl = true;      // Uses the PointPerfect Library
         present.gnss_to_uart = true;
 
@@ -779,7 +779,7 @@ void beginBoard()
         present.brand = BRAND_SPARKPNT;
         present.psram_2mb = true;
 
-        present.antennaPhaseCenter_mm = 42.0; // Default to SPK6618H APC, average of L1/L2
+        present.antennaPhaseCenter_mm = 62.0; // APC from drawings
         present.radio_lora = true;
         present.fuelgauge_bq40z50 = true;
         present.charger_mp2762a = true;
@@ -790,7 +790,7 @@ void beginBoard()
         present.gnss_to_uart = true;
 
         present.gpioExpanderSwitches = true;
-        present.microSd = true;
+        // present.microSd = true; // TODO remove comment out - v1.0 hardware does not have pullup on #CD so card detection does not work
         present.microSdCardDetectLow = true;
 
         present.display_i2c0 = true;

Firmware/RTK_Everywhere/Bluetooth.ino

@@ -534,6 +534,9 @@ void bluetoothStart()
                 memcpy(record.uuid.uuid.uuid128, UUID_IAP2, sizeof(UUID_IAP2));
                 record.service_name_length = strlen(sdp_service_name) + 1;
                 record.service_name = (char *)sdp_service_name;
+                //record.service_name_length = strlen(deviceName) + 1; // Doesn't seem to help the failed connects
+                //record.service_name = (char *)deviceName;
+                //record.rfcomm_channel_number = 1; // Doesn't seem to help the failed connects
                 esp_sdp_create_record((esp_bluetooth_sdp_record_t *)&record);
             }
         }

Firmware/RTK_Everywhere/GNSS_LG290P.h

@@ -450,6 +450,8 @@ class GNSS_LG290P : GNSS
   //   elevationDegrees: The elevation value in degrees
   bool setElevation(uint8_t elevationDegrees);
 
+  bool setHighAccuracyService(bool enableGalileoHas);
+
   // Enable all the valid messages for this platform
   bool setMessages(int maxRetries);