Add SBAS configure. Remove ZED module reset.

Resetting only the module but not the various NVM settings doesn't make sense. Better to only allow full factory reset (which includes ZED-F9P reset) via main menu.

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -23,15 +23,12 @@
     Text menu interactions
 
   Main Menu (Display MAC address / broadcast name):
-    (Done) GNSS - Configure measurement rate, reset module
-    (Done) Log - Log to SD, enable/disable RAWX
+    (Done) GNSS - Configure measurement rate, enable/disable common NMEA sentences, RAWX, SBAS
+    (Done) Log - Log to SD
     (Done) Base - Enter fixed coordinates, survey-in settings
+    (Done) Ports - Configure Radio and Data port baud rates
     (Done) Test menu
 
-  Configure baud rates of Radio and Data ports
-  Move RAWX to GNSS menu
-  Enable/disable NMEA setences
-  Disable/enable SBAS
   Enable various debug outputs sent over BT
 
 */

Firmware/RTK_Surveyor/Rover.ino

@@ -106,8 +106,11 @@ bool configureUbloxModuleRover()
 
   response &= setNMEASettings(); //Enable high precision NMEA and extended sentences
 
-  response &= setSBAS(false); //Disable SBAS. Work around for RTK LED not working in v1.13 firmware.
-  
+  if (settings.enableSBAS == true)
+    response &= setSBAS(true); //Enable SBAS
+  else
+    response &= setSBAS(false); //Disable SBAS. Work around for RTK LED not working in v1.13 firmware.
+
   return (response);
 }
 
@@ -144,6 +147,30 @@ bool setNMEASettings()
   return (true);
 }
 
+//Returns true if SBAS is enabled
+bool getSBAS()
+{
+  uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
+  ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+
+  customCfg.cls = UBX_CLASS_CFG; // This is the message Class
+  customCfg.id = UBX_CFG_GNSS; // This is the message ID
+  customCfg.len = 0; // Setting the len (length) to zero lets us poll the current settings
+  customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing)
+
+  uint16_t maxWait = 250; // Wait for up to 250ms (Serial may need a lot longer e.g. 1100)
+
+  // Read the current setting. The results will be loaded into customCfg.
+  if (myGPS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+  {
+    Serial.println(F("Get SBAS failed!"));
+    return (false);
+  }
+
+  if (customPayload[8 + 8 * 1] & (1 << 0)) return true; //Check if bit 0 is set
+  return false;
+}
+
 //The u-blox library doesn't directly support SBAS control so let's do it manually
 bool setSBAS(bool enableSBAS)
 {
@@ -166,15 +193,13 @@ bool setSBAS(bool enableSBAS)
 
   if (enableSBAS)
   {
-    if (customPayload[8 + 1 * 8] & (1 << 0)) return true; //If we want the bit set, and it already is, simply return
-
-    customPayload[8 + 1 * 8] |= (1 << 0); //Set the enable bit
+    customPayload[8 + 8 * 1] |= (1 << 0); //Set the enable bit
+    //We must enable the gnssID as well
+    customPayload[8 + 8 * 1 + 2] |= (1 << 0); //Set the enable bit (16) for SBAS L1C/A
   }
   else
   {
-    if (customPayload[8 + 1 * 8] & (1 << 0) == 0) return true; //If we want the bit cleared, and it already is, simply return
-
-    customPayload[8 + 1 * 8] &= ~(1 << 0); //Clear the enable bit
+    customPayload[8 + 8 * 1] &= ~(1 << 0); //Clear the enable bit
   }
 
   // Now we write the custom packet back again to change the setting

Firmware/RTK_Surveyor/System.ino

@@ -178,21 +178,43 @@ bool configureUbloxModule()
   }
 
   //Make sure the appropriate NMEA sentences are enabled
-  if (getNMEASettings(UBX_NMEA_GGA, COM_PORT_UART1) != 1)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1);
-  if (getNMEASettings(UBX_NMEA_GSA, COM_PORT_UART1) != 1)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
+  if (settings.outputSentenceGGA == true)
+    if (getNMEASettings(UBX_NMEA_GGA, COM_PORT_UART1) != 1)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1);
+  else if (settings.outputSentenceGGA == false)
+    if (getNMEASettings(UBX_NMEA_GGA, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1);
+
+  if (settings.outputSentenceGSA == true)
+    if (getNMEASettings(UBX_NMEA_GSA, COM_PORT_UART1) != 1)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
+  else if (settings.outputSentenceGSA == false)
+    if (getNMEASettings(UBX_NMEA_GSA, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
 
   //When receiving 15+ satellite information, the GxGSV sentences can be a large amount of data
   //If the update rate is >1Hz then this data can overcome the BT capabilities causing timeouts and lag
   //So we set the GSV sentence to 1Hz regardless of update rate
-  if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != settings.gnssMeasurementFrequency)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1, settings.gnssMeasurementFrequency);
-
-  if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) != 1)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
-  if (getNMEASettings(UBX_NMEA_GST, COM_PORT_UART1) != 1)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1);
+  if (settings.outputSentenceGSV == true)
+    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != settings.gnssMeasurementFrequency)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1, settings.gnssMeasurementFrequency);
+  else if (settings.outputSentenceGSV == false)
+    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
+
+  if (settings.outputSentenceRMC == true)
+    if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) != 1)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
+  else if (settings.outputSentenceRMC == false)
+    if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
+
+  if (settings.outputSentenceGST == true)
+    if (getNMEASettings(UBX_NMEA_GST, COM_PORT_UART1) != 1)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1);
+  else if (settings.outputSentenceGST == false)
+    if (getNMEASettings(UBX_NMEA_GST, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1);
 
   response &= myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
   //response &= myGPS.setAutoPVT(true, false);    //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
@@ -201,7 +223,6 @@ bool configureUbloxModule()
   if (getSerialRate(COM_PORT_UART1) != settings.dataPortBaud)
   {
     Serial.println("Updating UART1 rate");
-
     myGPS.setSerialRate(settings.dataPortBaud, COM_PORT_UART1); //Set UART1 to 115200
   }
   if (getSerialRate(COM_PORT_UART2) != settings.radioPortBaud)

Firmware/RTK_Surveyor/menuGNSS.ino

@@ -10,7 +10,33 @@ void menuGNSS()
     Serial.print(F("1) Set measurement frequency: "));
     Serial.println(settings.gnssMeasurementFrequency);
 
-    Serial.println(F("r) Reset GNSS Receiver"));
+    Serial.print(F("2) Toggle GxGGA sentence: "));
+    if (getNMEASettings(UBX_NMEA_GGA, COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("3) Toggle GxGSA sentence: "));
+    if (getNMEASettings(UBX_NMEA_GSA, COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("4) Toggle GxGSV sentence: "));
+    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) == settings.gnssMeasurementFrequency) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("5) Toggle GxRMC sentence: "));
+    if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("6) Toggle GxGST sentence: "));
+    if (getNMEASettings(UBX_NMEA_GST, COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("7) Toggle GNSS RAWX sentence: "));
+    if (getRAWXSettings(COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("8) Toggle SBAS: "));
+    if (getSBAS() == true) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
 
     Serial.println(F("x) Exit"));
 
@@ -29,22 +55,113 @@ void menuGNSS()
         settings.gnssMeasurementFrequency = rate; //Recorded to NVM and file at main menu exit
       }
     }
-
-    else if (incoming == 'r')
+    else if (incoming == '2')
     {
-      Serial.println(F("\r\nResetting ZED-F9P to factory defaults. Press 'y' to confirm:"));
-      byte bContinue = getByteChoice(menuTimeout);
-      if (bContinue == 'y')
+      if (getNMEASettings(UBX_NMEA_GGA, COM_PORT_UART1) == 1)
       {
-        myGPS.factoryReset(); //Reset everything: baud rate, I2C address, update rate, everything.
-
-        Serial.println(F("ZED-F9P settings reset. Please reset RTK Surveyor. Freezing."));
-        while (1) 
-          delay(1); //Prevent CPU freakout
+        //Disable the sentence
+        if (myGPS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1) == true)
+          settings.outputSentenceGGA = false;
+      }
+      else
+      {
+        //Enable the sentence
+        if (myGPS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1) == true)
+          settings.outputSentenceGGA = true;
+      }
+    }
+    else if (incoming == '3')
+    {
+      if (getNMEASettings(UBX_NMEA_GSA, COM_PORT_UART1) == 1)
+      {
+        //Disable the sentence
+        if (myGPS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1) == true)
+          settings.outputSentenceGSA = false;
+      }
+      else
+      {
+        //Enable the sentence
+        if (myGPS.enableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1) == true)
+          settings.outputSentenceGSA = true;
+      }
+    }
+    else if (incoming == '4')
+    {
+      if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) == settings.gnssMeasurementFrequency)
+      {
+        //Disable the sentence
+        if (myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1) == true)
+          settings.outputSentenceGSV = false;
+      }
+      else
+      {
+        //Enable the sentence at measurement rate to make sentence transmit at 1Hz to avoid stressing BT SPP buffers with 25+ SIV
+        if (myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1, settings.gnssMeasurementFrequency) == true)
+          settings.outputSentenceGSV = true;
+      }
+    }
+    else if (incoming == '5')
+    {
+      if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) == 1)
+      {
+        //Disable the sentence
+        if (myGPS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1) == true)
+          settings.outputSentenceRMC = false;
+      }
+      else
+      {
+        //Enable the sentence
+        if (myGPS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1) == true)
+          settings.outputSentenceRMC = true;
+      }
+    }
+    else if (incoming == '6')
+    {
+      if (getNMEASettings(UBX_NMEA_GST, COM_PORT_UART1) == 1)
+      {
+        //Disable the sentence
+        if (myGPS.disableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1) == true)
+          settings.outputSentenceGST = false;
       }
       else
-        Serial.println(F("Reset aborted"));
+      {
+        //Enable the sentence
+        if (myGPS.enableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1) == true)
+          settings.outputSentenceGST = true;
+      }
     }
+    else if (incoming == '7')
+    {
+      if (getRAWXSettings(COM_PORT_UART1) == 1)
+      {
+        //Disable
+        if (myGPS.disableMessage(UBX_CLASS_RXM, UBX_RXM_RAWX, COM_PORT_UART1) == true)
+          settings.gnssRAWOutput = false;
+      }
+      else
+      {
+        //Enable
+        if (myGPS.enableMessage(UBX_CLASS_RXM, UBX_RXM_RAWX, COM_PORT_UART1) == true)
+          settings.gnssRAWOutput = true;
+      }
+    }
+    else if (incoming == '8')
+    {
+      if (getSBAS() == true)
+      {
+        //Disable it
+        if (setSBAS(false) == true)
+          settings.enableSBAS = false;
+      }
+      else
+      {
+        //Enable it
+        if (setSBAS(true) == true)
+          settings.enableSBAS = true;
+      }
+
+    }
+
     else if (incoming == 'x')
       break;
     else if (incoming == STATUS_GETBYTE_TIMEOUT)
@@ -53,6 +170,7 @@ void menuGNSS()
       printUnknown(incoming);
   }
 
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
   beginGNSS(); //Push any new settings to GNSS module
 
   while (Serial.available()) Serial.read(); //Empty buffer of any newline chars

Firmware/RTK_Surveyor/menuLog.ino

@@ -25,15 +25,11 @@ void menuLog()
 
     if (settings.zedOutputLogging == true)
     {
-      Serial.print(F("2) Toggle GNSS RAWX logging: "));
-      if (getRAWXSettings(COM_PORT_UART1) == 1) Serial.println(F("Enabled"));
-      else Serial.println(F("Disabled"));
-
-      Serial.print(F("3) Update file timestamp with each write: "));
+      Serial.print(F("2) Update file timestamp with each write: "));
       if (settings.frequentFileAccessTimestamps == true) Serial.println(F("Enabled"));
       else Serial.println(F("Disabled"));
 
-      Serial.print(F("4) Set max logging time: "));
+      Serial.print(F("3) Set max logging time: "));
       Serial.print(settings.maxLogTime_minutes);
       Serial.println(F(" minutes"));
     }
@@ -52,24 +48,8 @@ void menuLog()
     else if (settings.zedOutputLogging == true)
     {
       if (incoming == '2')
-      {
-        if (getRAWXSettings(COM_PORT_UART1) == 1)
-        {
-          //Disable
-          settings.gnssRAWOutput = false;
-          myGPS.disableMessage(UBX_CLASS_RXM, UBX_RXM_RAWX, COM_PORT_UART1);
-        }
-        else
-        {
-          //Enable
-          settings.gnssRAWOutput = true;
-          myGPS.enableMessage(UBX_CLASS_RXM, UBX_RXM_RAWX, COM_PORT_UART1);
-        }
-        myGPS.saveConfiguration(); //Save the current settings to flash and BBR
-      }
-      else if (incoming == '3')
         settings.frequentFileAccessTimestamps ^= 1;
-      else if (incoming == '4')
+      else if (incoming == '3')
       {
         Serial.print(F("Enter max minutes to log data: "));
         int maxMinutes = getNumber(menuTimeout); //Timeout after x seconds

Firmware/RTK_Surveyor/nvm.ino

@@ -88,6 +88,12 @@ void recordSystemSettingsToFile()
     settingsFile.println("fixedAltitude=" + (String)settings.fixedAltitude);
     settingsFile.println("dataPortBaud=" + (String)settings.dataPortBaud);
     settingsFile.println("radioPortBaud=" + (String)settings.radioPortBaud);
+    settingsFile.println("outputSentenceGGA=" + (String)settings.outputSentenceGGA);
+    settingsFile.println("outputSentenceGSA=" + (String)settings.outputSentenceGSA);
+    settingsFile.println("outputSentenceGSV=" + (String)settings.outputSentenceGSV);
+    settingsFile.println("outputSentenceRMC=" + (String)settings.outputSentenceRMC);
+    settingsFile.println("outputSentenceGST=" + (String)settings.outputSentenceGST);
+    settingsFile.println("enableSBAS=" + (String)settings.enableSBAS);
 
     updateDataFileAccess(&settingsFile); // Update the file access time & date
 
@@ -257,6 +263,18 @@ bool parseLine(char* str) {
     settings.dataPortBaud = d;
   else if (strcmp(settingName, "radioPortBaud") == 0)
     settings.radioPortBaud = d;
+  else if (strcmp(settingName, "outputSentenceGGA") == 0)
+    settings.outputSentenceGGA = d;
+  else if (strcmp(settingName, "outputSentenceGSA") == 0)
+    settings.outputSentenceGSA = d;
+  else if (strcmp(settingName, "outputSentenceGSV") == 0)
+    settings.outputSentenceGSV = d;
+  else if (strcmp(settingName, "outputSentenceRMC") == 0)
+    settings.outputSentenceRMC = d;
+  else if (strcmp(settingName, "outputSentenceGST") == 0)
+    settings.outputSentenceGST = d;
+  else if (strcmp(settingName, "enableSBAS") == 0)
+    settings.enableSBAS = d;
 
   else
     Serial.printf("Unknown setting %s on line: %s\r\n", settingName, str);