Use callbacks for GNSS data.

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -2,25 +2,28 @@
 //Configure specific aspects of the receiver for base mode
 bool configureUbloxModuleBase()
 {
-  if(online.gnss == false) return(false);
+  if (online.gnss == false) return (false);
 
   bool response = true;
   int maxWait = 2000;
 
   //If our settings haven't changed, and this is first config since power on, trust ZED's settings
-  if(updateZEDSettings == false && firstPowerOn == true)
+  if (updateZEDSettings == false && firstPowerOn == true)
   {
     firstPowerOn = false; //Next time user switches modes, new settings will be applied
     log_d("Skipping ZED Base configuration");
-    return(true);
+    return (true);
   }
 
+  i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
+
   //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
   if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
     response &= i2cGNSS.setNavigationFrequency(1, maxWait);
+  //    response &= i2cGNSS.setNavigationFrequency(4, maxWait);
   if (response == false)
     Serial.println(F("Set rate failed"));
-    
+
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
   if (i2cGNSS.getSurveyInActive() == true)

Firmware/RTK_Surveyor/Begin.ino

@@ -335,6 +335,7 @@ void beginDisplay()
 
     Serial.println(F("Display started"));
     displaySplash();
+    splashStart = millis();
   }
   else
   {
@@ -415,6 +416,9 @@ void beginGNSS()
 //Configuration can take >1s so configure during splash
 void configureGNSS()
 {
+  i2cGNSS.setAutoPVTcallbackPtr(&storePVTdata); // Enable automatic NAV PVT messages with callback to storePVTdata
+  i2cGNSS.setAutoHPPOSLLHcallbackPtr(&storeHPdata); // Enable automatic NAV HPPOSLLH messages with callback to storeHPdata
+
   //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.

Firmware/RTK_Surveyor/Display.ino

@@ -305,31 +305,27 @@ void paintHorizontalAccuracy()
     oled.setFont(QW_FONT_8X16); //Set font to type 1: 8x16
     oled.setCursor(16, 20); //x, y
     oled.print(":");
-    float hpa = 100;
-
-    if (online.gnss == true)
-      hpa = i2cGNSS.getHorizontalAccuracy() / 10000.0;
 
     if (online.gnss == false)
     {
       oled.print(F("N/A"));
     }
-    else if (hpa > 30.0)
+    else if (horizontalAccuracy > 30.0)
     {
       oled.print(F(">30m"));
     }
-    else if (hpa > 9.9)
+    else if (horizontalAccuracy > 9.9)
     {
-      oled.print(hpa, 1); //Print down to decimeter
+      oled.print(horizontalAccuracy, 1); //Print down to decimeter
     }
-    else if (hpa > 1.0)
+    else if (horizontalAccuracy > 1.0)
     {
-      oled.print(hpa, 2); //Print down to centimeter
+      oled.print(horizontalAccuracy, 2); //Print down to centimeter
     }
     else
     {
       oled.print("."); //Remove leading zero
-      oled.printf("%03d", (int)(hpa * 1000)); //Print down to millimeter
+      oled.printf("%03d", (int)(horizontalAccuracy * 1000)); //Print down to millimeter
     }
   }
 }
@@ -484,7 +480,8 @@ void paintSIV()
   if (online.display == true && online.gnss == true)
   {
     //Blink satellite dish icon if we don't have a fix
-    if (i2cGNSS.getFixType() == 3 || i2cGNSS.getFixType() == 4 || i2cGNSS.getFixType() == 5) //3D, 3D+DR, or Time
+    uint8_t fixType = fixType;
+    if (fixType == 3 || fixType == 4 || fixType == 5) //3D, 3D+DR, or Time
     {
       //Fix, turn on icon
       displayBitmap(2, 35, SIV_Antenna_Width, SIV_Antenna_Height, SIV_Antenna);
@@ -511,13 +508,13 @@ void paintSIV()
     oled.setCursor(16, 36); //x, y
     oled.print(":");
 
-    if (i2cGNSS.getFixType() == 0) //0 = No Fix
+    if (fixType == 0) //0 = No Fix
     {
       oled.print("0");
     }
     else
     {
-      oled.print(i2cGNSS.getSIV());
+      oled.print(numSV);
     }
 
     paintResets();
@@ -1455,8 +1452,10 @@ void paintSystemTest()
     oled.print(F("GNSS:"));
     if (online.gnss == true)
     {
-      i2cGNSS.checkUblox();
-      int satsInView = i2cGNSS.getSIV();
+      i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
+      i2cGNSS.checkCallbacks(); //Process any callbacks: ie, eventTriggerReceived
+
+      int satsInView = numSV;
       if (satsInView > 5)
       {
         oled.print(F("OK"));

Firmware/RTK_Surveyor/NVM.ino

@@ -95,6 +95,7 @@ uint8_t getProfileNumber()
   {
     log_d("profileNumber.txt not found");
     profileNumber = 0;
+    updateZEDSettings = true; //Force module update
     recordProfileNumber(profileNumber);
   }
   else

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -105,7 +105,6 @@ int pin_radio_rts;
 
 //LittleFS for storing settings for different user profiles
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-#include "FS.h"
 #include <LittleFS.h>
 #define FORMAT_LITTLEFS_IF_FAILED true
 
@@ -198,6 +197,27 @@ SFE_UBLOX_GNSS_ADD i2cGNSS;
 #define MAX_PAYLOAD_SIZE 384 // Override MAX_PAYLOAD_SIZE for getModuleInfo which can return up to 348 bytes
 #endif
 uint8_t settingPayload[MAX_PAYLOAD_SIZE];
+
+//These globals are updated regularly via the storePVTdata callback
+bool ubloxUpdated = false;
+double latitude;
+double longitude;
+float altitude;
+float horizontalAccuracy;
+bool validDate;
+bool validTime;
+bool confirmedDate;
+bool confirmedTime;
+uint8_t gnssDay;
+uint8_t gnssMonth;
+uint16_t gnssYear;
+uint8_t gnssHour;
+uint8_t gnssMinute;
+uint8_t gnssSecond;
+uint16_t mseconds;
+uint8_t numSV;
+uint8_t fixType;
+uint8_t carrSoln;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //Battery fuel gauge and PWM LEDs
@@ -401,6 +421,7 @@ unsigned int binBytesSent = 0; //Tracks firmware bytes sent over WiFi OTA update
 int binBytesLastUpdate = 0; //Allows websocket notification to be sent every 100k bytes
 bool updateZEDSettings = false; //If settings from file are different from LittleFS, config the ZED
 bool firstPowerOn = true; //After boot, apply new settings to ZED if user switches between base or rover
+unsigned long splashStart = 0; //Controls how long the splash is displayed for. Currently min of 2s.
 
 unsigned long startTime = 0; //Used for checking longest running functions
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -619,18 +640,18 @@ void updateRTC()
       {
         lastRTCAttempt = millis();
 
-        i2cGNSS.checkUblox();
-
         bool timeValid = false;
-        if (i2cGNSS.getTimeValid() == true && i2cGNSS.getDateValid() == true) //Will pass if ZED's RTC is reporting (regardless of GNSS fix)
+        if (validTime == true && validDate == true) //Will pass if ZED's RTC is reporting (regardless of GNSS fix)
           timeValid = true;
-        if (i2cGNSS.getConfirmedTime() == true && i2cGNSS.getConfirmedDate() == true) //Requires GNSS fix
+        if (confirmedTime == true && confirmedDate == true) //Requires GNSS fix
           timeValid = true;
 
         if (timeValid == true)
         {
           //Set the internal system time
           //This is normally set with WiFi NTP but we will rarely have WiFi
+          //rtc.setTime(gnssSecond, gnssMinute, gnssHour, gnssDay, gnssMonth, gnssYear);  // 17th Jan 2021 15:24:30
+          i2cGNSS.checkUblox();
           rtc.setTime(i2cGNSS.getSecond(), i2cGNSS.getMinute(), i2cGNSS.getHour(), i2cGNSS.getDay(), i2cGNSS.getMonth(), i2cGNSS.getYear());  // 17th Jan 2021 15:24:30
 
           online.rtc = true;

Firmware/RTK_Surveyor/Rover.ino

@@ -8,7 +8,7 @@ bool configureUbloxModuleRover()
   int maxWait = 2000;
 
   //If our settings haven't changed, and this is first config since power on, trust ZED's settings
-  if(updateZEDSettings == false && firstPowerOn == true)
+  if (updateZEDSettings == false && firstPowerOn == true)
   {
     firstPowerOn = false; //Next time user switches modes, new settings will be applied
     log_d("Skipping ZED Rover configuration");
@@ -267,39 +267,33 @@ void updateAccuracyLEDs()
 
     if (online.gnss == true)
     {
-      uint32_t accuracy = i2cGNSS.getHorizontalAccuracy();
-
-      if (accuracy > 0)
+      if (horizontalAccuracy > 0)
       {
-        // Convert the horizontal accuracy (mm * 10^-1) to a float
-        float f_accuracy = accuracy;
-        f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
-
         Serial.print(F("Rover Accuracy (m): "));
-        Serial.print(f_accuracy, 4); // Print the accuracy with 4 decimal places
+        Serial.print(horizontalAccuracy, 4); // Print the accuracy with 4 decimal places
         Serial.println();
 
         if (productVariant == RTK_SURVEYOR)
         {
-          if (f_accuracy <= 0.02)
+          if (horizontalAccuracy <= 0.02)
           {
             digitalWrite(pin_positionAccuracyLED_1cm, HIGH);
             digitalWrite(pin_positionAccuracyLED_10cm, HIGH);
             digitalWrite(pin_positionAccuracyLED_100cm, HIGH);
           }
-          else if (f_accuracy <= 0.100)
+          else if (horizontalAccuracy <= 0.100)
           {
             digitalWrite(pin_positionAccuracyLED_1cm, LOW);
             digitalWrite(pin_positionAccuracyLED_10cm, HIGH);
             digitalWrite(pin_positionAccuracyLED_100cm, HIGH);
           }
-          else if (f_accuracy <= 1.0000)
+          else if (horizontalAccuracy <= 1.0000)
           {
             digitalWrite(pin_positionAccuracyLED_1cm, LOW);
             digitalWrite(pin_positionAccuracyLED_10cm, LOW);
             digitalWrite(pin_positionAccuracyLED_100cm, HIGH);
           }
-          else if (f_accuracy > 1.0)
+          else if (horizontalAccuracy > 1.0)
           {
             digitalWrite(pin_positionAccuracyLED_1cm, LOW);
             digitalWrite(pin_positionAccuracyLED_10cm, LOW);
@@ -310,12 +304,48 @@ void updateAccuracyLEDs()
       else
       {
         Serial.print(F("Rover Accuracy: "));
-        Serial.print(accuracy);
+        Serial.print(horizontalAccuracy);
         Serial.print(" ");
         Serial.print(F("No lock. SIV: "));
-        Serial.print(i2cGNSS.getSIV());
+        Serial.print(numSV);
         Serial.println();
       }
     } //End GNSS online checking
   } //Check every 2000ms
 }
+
+//These are the callbacks that get regularly called, globals are updated
+void storePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
+{
+  altitude = ubxDataStruct->height / 1000.0;
+
+  gnssDay = ubxDataStruct->day;
+  gnssMonth = ubxDataStruct->month;
+  gnssYear = ubxDataStruct->year;
+
+  gnssHour = ubxDataStruct->hour;
+  gnssMinute = ubxDataStruct->min;
+  gnssSecond = ubxDataStruct->sec;
+  mseconds = ceil((ubxDataStruct->iTOW % 1000) / 10.0); //Limit to first two digits
+
+  numSV = ubxDataStruct->numSV;
+  fixType = ubxDataStruct->fixType;
+  carrSoln = ubxDataStruct->flags.bits.carrSoln;
+
+  validDate = ubxDataStruct->valid.bits.validDate;
+  validTime = ubxDataStruct->valid.bits.validTime;
+  confirmedDate = ubxDataStruct->flags2.bits.confirmedDate;
+  confirmedTime = ubxDataStruct->flags2.bits.confirmedTime;
+
+  ubloxUpdated = true;
+}
+
+void storeHPdata(UBX_NAV_HPPOSLLH_data_t *ubxDataStruct)
+{
+  horizontalAccuracy = ((float)ubxDataStruct->hAcc) / 10000.0; // Convert hAcc from mm*0.1 to m
+
+  latitude = ((double)ubxDataStruct->lat) / 10000000.0;
+  latitude += ((double)ubxDataStruct->latHp) / 1000000000.0;
+  longitude = ((double)ubxDataStruct->lon) / 10000000.0;
+  longitude += ((double)ubxDataStruct->lonHp) / 1000000000.0;
+}

Firmware/RTK_Surveyor/States.ino

@@ -71,7 +71,7 @@ void updateSystemState()
 
       case (STATE_ROVER_NO_FIX):
         {
-          if (i2cGNSS.getFixType() == 3 || i2cGNSS.getFixType() == 4) //3D, 3D+DR
+          if (fixType == 3 || fixType == 4) //3D, 3D+DR
             changeState(STATE_ROVER_FIX);
         }
         break;
@@ -80,10 +80,9 @@ void updateSystemState()
         {
           updateAccuracyLEDs();
 
-          byte rtkType = i2cGNSS.getCarrierSolutionType();
-          if (rtkType == 1) //RTK Float
+          if (carrSoln == 1) //RTK Float
             changeState(STATE_ROVER_RTK_FLOAT);
-          else if (rtkType == 2) //RTK Fix
+          else if (carrSoln == 2) //RTK Fix
             changeState(STATE_ROVER_RTK_FIX);
         }
         break;
@@ -92,10 +91,9 @@ void updateSystemState()
         {
           updateAccuracyLEDs();
 
-          byte rtkType = i2cGNSS.getCarrierSolutionType();
-          if (rtkType == 0) //No RTK
+          if (carrSoln == 0) //No RTK
             changeState(STATE_ROVER_FIX);
-          if (rtkType == 2) //RTK Fix
+          if (carrSoln == 2) //RTK Fix
             changeState(STATE_ROVER_RTK_FIX);
         }
         break;
@@ -104,10 +102,9 @@ void updateSystemState()
         {
           updateAccuracyLEDs();
 
-          byte rtkType = i2cGNSS.getCarrierSolutionType();
-          if (rtkType == 0) //No RTK
+          if (carrSoln == 0) //No RTK
             changeState(STATE_ROVER_FIX);
-          if (rtkType == 1) //RTK Float
+          if (carrSoln == 1) //RTK Float
             changeState(STATE_ROVER_RTK_FLOAT);
         }
         break;
@@ -176,14 +173,9 @@ void updateSystemState()
           }
 
           //Check for <1m horz accuracy before starting surveyIn
-          uint32_t accuracy = i2cGNSS.getHorizontalAccuracy();
+          Serial.printf("Waiting for Horz Accuracy < %0.2f meters: %0.2f\n\r", settings.surveyInStartingAccuracy, horizontalAccuracy);
 
-          float f_accuracy = accuracy;
-          f_accuracy = f_accuracy / 10000.0; // Convert the horizontal accuracy (mm * 10^-1) to a float
-
-          Serial.printf("Waiting for Horz Accuracy < %0.2f meters: %0.2f\n\r", settings.surveyInStartingAccuracy, f_accuracy);
-
-          if (f_accuracy > 0.0 && f_accuracy < settings.surveyInStartingAccuracy)
+          if (horizontalAccuracy > 0.0 && horizontalAccuracy < settings.surveyInStartingAccuracy)
           {
             displaySurveyStart(0); //Show 'Survey'
 
@@ -210,10 +202,10 @@ void updateSystemState()
           }
 
           //Get the data once to avoid duplicate slow responses
-          svinObservationTime = i2cGNSS.getSurveyInObservationTime(100);
-          svinMeanAccuracy = i2cGNSS.getSurveyInMeanAccuracy(100);
+          svinObservationTime = i2cGNSS.getSurveyInObservationTime(50);
+          svinMeanAccuracy = i2cGNSS.getSurveyInMeanAccuracy(50);
 
-          if (i2cGNSS.getSurveyInValid(100) == true) //Survey in complete
+          if (i2cGNSS.getSurveyInValid(50) == true) //Survey in complete
           {
             Serial.printf("Observation Time: %d\n\r", svinObservationTime);
             Serial.println(F("Base survey complete! RTCM now broadcasting."));
@@ -231,7 +223,7 @@ void updateSystemState()
             Serial.print(F(" Accuracy: "));
             Serial.print(svinMeanAccuracy);
             Serial.print(F(" SIV: "));
-            Serial.print(i2cGNSS.getSIV());
+            Serial.print(numSV);
             Serial.println();
 
             if (svinObservationTime > maxSurveyInWait_s)