Turning off SV sentences when output rate is above 1Hz.

Author: Nathan Seidle

Firmware/LEDs/LEDs.ino

@@ -0,0 +1,29 @@
+
+const int batteryLevelLED_Red = 32;
+const int batteryLevelLED_Green = 33;
+
+const int freq = 5000;
+const int ledRedChannel = 0;
+const int ledGreenChannel = 1;
+const int resolution = 8;
+
+void setup() {
+  ledcSetup(ledRedChannel, freq, resolution);
+  ledcSetup(ledGreenChannel, freq, resolution);
+
+  ledcAttachPin(batteryLevelLED_Red, ledRedChannel);
+  ledcAttachPin(batteryLevelLED_Green, ledGreenChannel);
+
+  ledcWrite(ledRedChannel, 128);
+  ledcWrite(ledGreenChannel, 128);
+}
+
+// the loop function runs over and over again forever
+void loop() {
+//  ledcWrite(batteryLevelLED_Red, 128);
+  //ledcWrite(batteryLevelLED_Green, 128);
+  delay(1000);                       // wait for a second
+  //ledcWrite(batteryLevelLED_Red, 128);
+  //ledcWrite(batteryLevelLED_Green, 128);
+  delay(1000);                       // wait for a second
+}

Firmware/RTK_Enclosed/RTK_Enclosed.ino

@@ -27,7 +27,8 @@
   Set static position based on user input
   Wait for better pos accuracy before starting a survey in
   Can we add NTRIP reception over Wifi to the ESP32 to aid in survey in time?
-  
+
+  BT cast batt, RTK status, etc
 
   Menu System:
     Test system? Connection to GPS?
@@ -38,6 +39,8 @@
     Allow user to enter permanent coordinates.
     Allow user to enable/disable detection of permanent base
     Set radius (5m default) for auto-detection of base
+    Set nav rate. 4Hz is fun but may drown BT connection. 1Hz seems to be more stable.
+    If more than 1Hz, turn off SV sentences.
 */
 
 #include <Wire.h> //Needed for I2C to GPS
@@ -68,19 +71,22 @@ SFE_UBLOX_GPS_ADD myGPS;
 
 //This string is used to verify the firmware on the ZED-F9P. This
 //firmware relies on various features of the ZED and may require the latest
-//ublox firmware to work correctly. We check the module firmware at startup but
+//u-blox firmware to work correctly. We check the module firmware at startup but
 //don't prevent operation if firmware is mismatched.
 char latestZEDFirmware[] = "FWVER=HPG 1.13";
+
+uint8_t gnssUpdateRate = 4; //Increasing beyond 1Hz with SV sentence on can drown the BT link
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 //Bits for the battery level LEDs
-#include "MAX17048.h" //Click here to get the library: http://librarymanager/All#MAX17048
-MAX17048 battMonitor;
+#include <SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library
+SFE_MAX1704X lipo(MAX1704X_MAX17048); // Create a MAX17048
 
 // setting PWM properties
 const int freq = 5000;
-const int ledChannel = 0;
+const int ledRedChannel = 0;
+const int ledGreenChannel = 1;
 const int resolution = 8;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
@@ -109,8 +115,8 @@ const int positionAccuracyLED_10cm = 15;
 const int sd_cs = 25;
 const int zed_tx_ready = 26;
 const int zed_reset = 27;
-const int batteryLevelLED_Red = 34;
-const int batteryLevelLED_Green = 35;
+const int batteryLevelLED_Red = 32;
+const int batteryLevelLED_Green = 33;
 const int batteryLevel_alert = 36;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
@@ -160,6 +166,8 @@ void setup()
   GPS.setRxBufferSize(SERIAL_SIZE_RX);
   GPS.setTimeout(1);
 
+  Wire.begin();
+
   Serial.println("SparkFun RTK Surveyor v1.0");
 
   pinMode(positionAccuracyLED_1cm, OUTPUT);
@@ -175,9 +183,17 @@ void setup()
   digitalWrite(baseStatusLED, LOW);
   digitalWrite(bluetoothStatusLED, LOW);
 
-  ledcSetup(ledChannel, freq, resolution);
-  ledcAttachPin(batteryLevelLED_Red, ledChannel);
-  ledcAttachPin(batteryLevelLED_Green, ledChannel);
+  ledcSetup(ledRedChannel, freq, resolution);
+  ledcSetup(ledGreenChannel, freq, resolution);
+
+  ledcAttachPin(batteryLevelLED_Red, ledRedChannel);
+  ledcAttachPin(batteryLevelLED_Green, ledGreenChannel);
+
+  ledcWrite(ledRedChannel, 0);
+  ledcWrite(ledGreenChannel, 0);
+
+  setupLiPo(); //Configure battery fuel guage monitor
+  checkBatteryLevels(); //Display initial battery level
 
   SerialBT.register_callback(btCallback);
   if (startBluetooth() == false)
@@ -193,24 +209,20 @@ void setup()
     lastBluetoothLEDBlink = millis();
   }
 
-  Wire.begin();
-  
-  battMonitor.attatch(Wire); //Connect batt level LED stuff so we can see battery level at power-on
-
   if (myGPS.begin() == false)
   {
     //Try again with power on delay
     delay(1000); //Wait for ZED-F9P to power up before it can respond to ACK
     if (myGPS.begin() == false)
     {
-      Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring."));
+      Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring."));
       blinkError(ERROR_NO_I2C);
     }
     else
-      Serial.println(F("Ublox GPS detected"));
+      Serial.println(F("u-blox GPS detected"));
   }
   else
-    Serial.println(F("Ublox GPS detected"));
+    Serial.println(F("u-blox GPS detected"));
 
   //Based on Example21_ModuleInfo
   if (myGPS.getModuleInfo(1100) == true) // Try to get the module info

Firmware/RTK_Enclosed/Rover.ino

@@ -19,7 +19,7 @@ bool updateRoverStatus()
 
       if (f_accuracy <= 0.02)
       {
-        Serial.print(" 0.02m LED");
+        Serial.print(" 0.01m LED");
         digitalWrite(positionAccuracyLED_1cm, HIGH);
         digitalWrite(positionAccuracyLED_10cm, HIGH);
         digitalWrite(positionAccuracyLED_100cm, HIGH);
@@ -105,11 +105,14 @@ bool configureUbloxModuleRover()
     response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_USB, 0);
 
   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.
+
+  //Is SBAS causing weird NMEA failures once we are in RTK mode?
+  //response &= setSBAS(false); //Disable SBAS. Work around for RTK LED not working in v1.13 firmware.
+  
   return (response);
 }
 
-//The Ublox library doesn't directly support NMEA configuration so let's do it manually
+//The u-blox library doesn't directly support NMEA configuration so let's do it manually
 bool setNMEASettings()
 {
   uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
@@ -142,7 +145,7 @@ bool setNMEASettings()
   return (true);
 }
 
-//The Ublox library doesn't directly support SBAS control so let's do it manually
+//The u-blox library doesn't directly support SBAS control so let's do it manually
 bool setSBAS(bool enableSBAS)
 {
   uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes

Firmware/RTK_Enclosed/System.ino

@@ -48,10 +48,10 @@ void F9PSerialReadTask(void *e)
   }
 }
 
-//Setup the Ublox module for any setup (base or rover)
+//Setup the u-blox module for any setup (base or rover)
 //In general we check if the setting is incorrect before writing it. Otherwise, the set commands have, on rare occasion, become
 //corrupt. The worst is when the I2C port gets turned off or the I2C address gets borked. We should only have to configure
-//a fresh Ublox module once and never again.
+//a fresh u-blox module once and never again.
 bool configureUbloxModule()
 {
   boolean response = true;
@@ -101,20 +101,32 @@ bool configureUbloxModule()
     response &= myGPS.setPortInput(COM_PORT_USB, (COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3)); //Set the USB port to everything
   }
 
-
   //Set output rate
-  if (myGPS.getNavigationFrequency() != 4)
+  if (myGPS.getNavigationFrequency() != gnssUpdateRate)
   {
-    response &= myGPS.setNavigationFrequency(4); //Set output in Hz
+    response &= myGPS.setNavigationFrequency(gnssUpdateRate); //Set output in Hz
   }
 
   //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 (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 1)
-    response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, 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
+  if (gnssUpdateRate == 1)
+  {
+    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 1)
+      response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
+  }
+  else
+  {
+    //Turn off satellite sentences
+    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 0)
+      response &= myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
+  }
+
   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)
@@ -467,36 +479,75 @@ void updateBattLEDs()
   {
     lastBattUpdate += 5000;
 
-    int battLevel = battMonitor.percent();
+    checkBatteryLevels();
+  }
+}
+
+//When called, checks level of battery and updates the LED brightnesses
+//And outputs a serial message to USB and BT
+void checkBatteryLevels()
+{
+  String battMsg = "";
 
-    Serial.print("Batt (");
-    Serial.print(battLevel);
-    Serial.print("%): ");
+  int battLevel = lipo.getSOC();
 
-    if (battLevel < 10)
-    {
-      Serial.print("RED uh oh!");
-      ledcWrite(batteryLevelLED_Red, 255);
-      ledcWrite(batteryLevelLED_Green, 0);
-    }
-    else if (battLevel < 50)
-    {
-      Serial.print("Yellow ok");
-      ledcWrite(batteryLevelLED_Red, 128);
-      ledcWrite(batteryLevelLED_Green, 128);
-    }
-    else if (battLevel >= 50)
-    {
-      Serial.print("Green all good");
-      ledcWrite(batteryLevelLED_Red, 0);
-      ledcWrite(batteryLevelLED_Green, 255);
-    }
-    else
-    {
-      Serial.print("No batt");
-      ledcWrite(batteryLevelLED_Red, 0);
-      ledcWrite(batteryLevelLED_Green, 0);
-    }
-    Serial.println();
+  battMsg += "Batt (";
+  battMsg += battLevel;
+  battMsg += "%): ";
+
+  battMsg += "Voltage: ";
+  battMsg += lipo.getVoltage();
+  battMsg += "V";
+
+  if (lipo.getChangeRate() > 0)
+    battMsg += " Charging: ";
+  else
+    battMsg += " Discharging: ";
+  battMsg += lipo.getChangeRate();
+  battMsg += "%/hr ";
+
+  if (battLevel < 10)
+  {
+    battMsg += "RED uh oh!";
+    ledcWrite(ledRedChannel, 255);
+    ledcWrite(ledGreenChannel, 0);
   }
+  else if (battLevel < 50)
+  {
+    battMsg += "Yellow ok";
+    ledcWrite(ledRedChannel, 128);
+    ledcWrite(ledGreenChannel, 128);
+  }
+  else if (battLevel >= 50)
+  {
+    battMsg += "Green all good";
+    ledcWrite(ledRedChannel, 0);
+    ledcWrite(ledGreenChannel, 255);
+  }
+  else
+  {
+    battMsg += "No batt";
+    ledcWrite(ledRedChannel, 10);
+    ledcWrite(ledGreenChannel, 0);
+  }
+  battMsg += "\n\r";
+  SerialBT.print(battMsg);
+  Serial.print(battMsg);
+}
+
+//Configure the on board MAX17048 fuel gauge
+void setupLiPo()
+{
+  // Set up the MAX17048 LiPo fuel gauge
+  if (lipo.begin() == false)
+  {
+    Serial.println(F("MAX17048 not detected. Continuing."));
+    return;
+  }
+
+  //Always use hibernate mode
+  if (lipo.getHIBRTActThr() < 0xFF) lipo.setHIBRTActThr((uint8_t)0xFF);
+  if (lipo.getHIBRTHibThr() < 0xFF) lipo.setHIBRTHibThr((uint8_t)0xFF);
+
+  Serial.println(F("MAX17048 configuration complete"));
 }