Add firmware upgrade detection and menu. Change GPS to auto PVT and HPPOSLLH.

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -7,6 +7,7 @@
   and communicates with the ZED-F9P.
 
   Select the ESP32 Dev Module from the boards list. This maps the same pins to the ESP32-WROOM module.
+  Select 'Minimal SPIFFS (1.9MB App)' from the partition list. This will enable SD firmware updates.
 
   Special thanks to Avinab Malla for guidance on getting xTasks implemented.
 
@@ -29,6 +30,9 @@
     (Done) Ports - Configure Radio and Data port baud rates
     (Done) Test menu
     Enable various debug outputs sent over BT
+
+    when user exits wifi mode, turn BT back on
+    
 */
 
 const int FIRMWARE_VERSION_MAJOR = 1;
@@ -170,6 +174,14 @@ TaskHandle_t F9PSerialWriteTaskHandle = NULL; //Store handles so that we can kil
 MicroOLED oled(PIN_RESET, DC_JUMPER);
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
+//Firmware binaries loaded from SD
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+#include <Update.h>
+int binCount = 0;
+char binFileNames[10][50];
+const char* forceFirmwareFileName = "RTK_Surveyor_Firmware_Force.bin"; //File that will be loaded at startup regardless of user input
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
 //Global variables
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
@@ -206,10 +218,14 @@ void setup()
   //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
   beginEEPROM();
 
-  delay(3000);
   //eepromErase();
 
   beginSD(); //Test if SD is present
+  if (online.microSD == true)
+  {
+    Serial.println(F("microSD online"));
+    scanForFirmware(); //See if SD card contains new firmware that should be loaded at startup
+  }
 
   loadSettings(); //Attempt to load settings after SD is started so we can read the settings file if available
 
@@ -223,9 +239,6 @@ void setup()
 
   beginGNSS(); //Connect and configure ZED-F9P
 
-  if (online.microSD == true)
-    Serial.println(F("microSD card online"));
-
   Serial.flush(); //Complete any previous prints
 
   danceLEDs(); //Turn on LEDs like a car dashboard

Firmware/RTK_Surveyor/System.ino

@@ -215,9 +215,8 @@ bool configureUbloxModule()
   //Make sure the appropriate NMEA sentences are enabled
   response &= enableNMEASentences(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
-  //response &= myGPS.setAutoPVT(false); //Turn off PVT
+  response &= myGPS.setAutoPVT(true, false); //Tell the GPS to "send" each solution, but do not update stale data when accessed
+  response &= myGPS.setAutoHPPOSLLH(true, false); //Tell the GPS to "send" each high res solution, but do not update stale data when accessed
 
   if (getSerialRate(COM_PORT_UART1) != settings.dataPortBaud)
   {

Firmware/RTK_Surveyor/menuFirmware.ino

@@ -0,0 +1,157 @@
+//Update firmware if bin files found
+void menuFirmware()
+{
+  if (online.microSD == false)
+  {
+    Serial.println(F("No SD card detected"));
+  }
+
+  if (binCount == 0)
+  {
+    Serial.println("No valid binary files found.");
+    delay(2000);
+    return;
+  }
+
+  while (1)
+  {
+    Serial.println();
+    Serial.println(F("Menu: Update Firmware Menu"));
+
+    for (int x = 0 ; x < binCount ; x++)
+    {
+      Serial.printf("%d) Load %s\n", x + 1, binFileNames[x]);
+    }
+
+    Serial.println(F("x) Exit"));
+
+    int incoming = getNumber(menuTimeout); //Timeout after x seconds
+
+    if (incoming > 0 && incoming < (binCount + 1))
+    {
+      //Adjust incoming to match array
+      incoming--;
+      updateFromSD(binFileNames[incoming]);
+    }
+    else if (incoming == STATUS_PRESSED_X)
+      break;
+    else if (incoming == STATUS_GETNUMBER_TIMEOUT)
+      break;
+    else
+      Serial.printf("Bad value: %d\n", incoming);
+  }
+
+  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+}
+
+//Looks for matching binary files in root
+//Loads a global called binCount
+void scanForFirmware()
+{
+  if (online.microSD == true)
+  {
+    //Count available binaries
+    SdFile tempFile;
+    SdFile dir;
+    const char* BIN_EXT = "bin";
+    const char* BIN_HEADER = "RTK_Surveyor_Firmware";
+    char fname[50]; //Handle long file names
+
+    dir.open("/"); //Open root
+
+    while (tempFile.openNext(&dir, O_READ))
+    {
+      if (tempFile.isFile())
+      {
+        tempFile.getName(fname, sizeof(fname));
+
+        if (strcmp(forceFirmwareFileName, fname) == 0)
+          updateFromSD((char *)forceFirmwareFileName);
+
+        //Check for 'sfe_rtk' and 'bin' extension
+        if (strcmp(BIN_EXT, &fname[strlen(fname) - strlen(BIN_EXT)]) == 0)
+        {
+          if (strstr(fname, BIN_HEADER) != NULL)
+          {
+            strcpy(binFileNames[binCount++], fname); //Add this to the array
+          }
+          else
+            Serial.printf("Unknown: %s\n", fname);
+        }
+      }
+      tempFile.close();
+    }
+  }
+}
+
+//Look for firmware file on SD card and update as needed
+void updateFromSD(char *firmwareFileName)
+{
+  Serial.printf("Loading %s\n", firmwareFileName);
+  if (sd.exists(firmwareFileName))
+  {
+    SdFile firmwareFile;
+    firmwareFile.open(firmwareFileName, O_READ);
+
+    size_t updateSize = firmwareFile.fileSize();
+    if (updateSize == 0)
+    {
+      Serial.println(F("Error: Binary is empty"));
+      firmwareFile.close();
+      return;
+    }
+
+    if (Update.begin(updateSize) == false)
+    {
+      Serial.println(F("Update begin failed. Not enough partition space available."));
+      firmwareFile.close();
+      return;
+    }
+
+    Serial.print(F("Moving file to OTA section"));
+
+    const int pageSize = 512;
+    byte dataArray[pageSize];
+    int bytesWritten = 0;
+
+    //Bulk write from the SD file to the EEPROM
+    while (firmwareFile.available())
+    {
+      int bytesToWrite = pageSize; //Max number of bytes to read
+      if (firmwareFile.available() < bytesToWrite) bytesToWrite = firmwareFile.available(); //Trim this read size as needed
+
+      firmwareFile.read(dataArray, bytesToWrite); //Read the next set of bytes from file into our temp array
+
+      if (Update.write(dataArray, bytesToWrite) != bytesToWrite)
+        Serial.println(F("Write failed"));
+      else
+        bytesWritten += bytesToWrite;
+
+      if (bytesWritten % (512 * 32) == 0) Serial.print("."); //Indicate progress
+    }
+    Serial.println(F("\nFile move complete"));
+
+    if (Update.end())
+    {
+      if (Update.isFinished())
+      {
+        Serial.println(F("Firmware updated successfully. Rebooting. Good bye!"));
+        delay(1000);
+        ESP.restart();
+      }
+      else
+        Serial.println(F("Update not finished? Something went wrong!"));
+    }
+    else
+    {
+      Serial.print(F("Error Occurred. Error #: "));
+      Serial.println(String(Update.getError()));
+    }
+
+    firmwareFile.close();
+  }
+  else
+  {
+    Serial.println(F("No firmware file found"));
+  }
+}

Firmware/RTK_Surveyor/menuMain.ino

@@ -23,6 +23,9 @@ void menuMain()
 
     Serial.println(F("r) Reset all settings to default"));
 
+    if(binCount > 0)
+      Serial.println(F("f) Firmware upgrade"));
+
     Serial.println(F("t) Test menu"));
 
     Serial.println(F("x) Exit"));
@@ -57,6 +60,8 @@ void menuMain()
       else
         Serial.println(F("Reset aborted"));
     }
+    else if (incoming == 'f' && binCount > 0)
+      menuFirmware();
     else if (incoming == 't')
       menuTest();
     else if (incoming == 'x')