Set messages during Base start

The GSV message needs to be updated to 1Hz. Also added is all other messages get set to the setting values in case user is logging during base mode.

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -18,31 +18,23 @@ bool configureUbloxModuleBase()
 
   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);
+  const int baseNavigationFrequency = 1;
+
+  //In Base mode we force 1Hz
+  if (i2cGNSS.getNavigationFrequency(maxWait) != baseNavigationFrequency)
+    response &= i2cGNSS.setNavigationFrequency(baseNavigationFrequency, maxWait);
   if (response == false)
-    Serial.println("Set rate failed");
+    Serial.println("setNavigationFrequency failed");
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
-  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover Client mode
-  i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message
+  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover NTRIP Client mode
+  i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message that may have been set during Rover NTRIP Client mode
 
   response = i2cGNSS.setSurveyMode(0, 0, 0); //Disable Survey-In or Fixed Mode
   if (response == false)
     Serial.println("Disable TMODE3 failed");
 
-  //In base mode we force 1Hz
-  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
-    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
-  if (response == false)
-  {
-    Serial.println("configureUbloxModuleBase: Set rate failed");
-    return (false);
-  }
-
   // Set dynamic model
   if (i2cGNSS.getDynamicModel(maxWait) != DYN_MODEL_STATIONARY)
   {
@@ -61,17 +53,23 @@ bool configureUbloxModuleBase()
   getPortSettings(COM_PORT_I2C); //Load the settingPayload with this port's settings
   if (settingPayload[OUTPUT_SETTING] != (COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3))
     response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); //Set the I2C port to output UBX (config), and RTCM3 (casting)
-  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+NMEA+RTCM3 -
+  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+NMEA+RTCM3
 
-  //In base mode the Surveyor should output RTCM over UART2 and I2C ports:
+  //In base mode the Surveyor should output RTCM over all ports:
   //(Primary) UART2 in case the Surveyor is connected via radio to rover
-  //(Optional) I2C in case user wants base to connect to WiFi and NTRIP Serve to Caster
-  //(Seconday) USB in case the Surveyor is used as an NTRIP caster
-  //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP caster
+  //(Optional) I2C in case user wants base to connect to WiFi and NTRIP Caster
+  //(Seconday) USB in case the Surveyor is used as an NTRIP caster connected to SBC or other
+  //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP Caster
   response &= enableRTCMSentences(COM_PORT_UART2);
   response &= enableRTCMSentences(COM_PORT_UART1);
   response &= enableRTCMSentences(COM_PORT_USB);
-  response &= enableRTCMSentences(COM_PORT_I2C); //Enable for plain radio so we can count RTCM packets for display (State: Base-Temp - Transmitting)
+  response &= enableRTCMSentences(COM_PORT_I2C); //Enable for plain radio so we can count RTCM packets for display
+
+  //If enabled, adjust GSV NMEA to be reported at 1Hz
+  if (settings.ubxMessages[8].msgRate > baseNavigationFrequency)
+    setMessageRateByName("UBX_NMEA_GSV", baseNavigationFrequency); //Update GSV setting in file
+  
+  response &= configureGNSSMessageRates(COM_PORT_UART1, settings.ubxMessages); //In the interest of logging, make sure the appropriate messages are enabled
 
   if (response == false)
   {

Firmware/RTK_Surveyor/ESPNOW.ino

@@ -178,7 +178,6 @@ void espnowStop()
     Serial.println("Error deinitializing ESP-NOW");
     return;
   }
-#endif
 
   if (wifiState == WIFI_OFF)
   {
@@ -190,18 +189,18 @@ void espnowStop()
   //If WiFi is on, then disable LR protocol
   else if (wifiState > WIFI_OFF)
   {
-#ifdef COMPILE_WIFI
     wifiSetState(WIFI_NOTCONNECTED);
-#endif
 
     // Return protocol to default settings (no WIFI_PROTOCOL_LR for ESP NOW)
     esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N); //Stops WiFi Station.
 
     WiFi.mode(WIFI_STA);
-    
+
     log_d("WiFi protocols on, LR protocol off");
   }
-    
+
+#endif
+
   espnowSetState(ESPNOW_OFF);
 }
 

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -554,7 +554,7 @@ void setup()
 
   loadSettings(); //Attempt to load settings after SD is started so we can read the settings file if available
 
-  //beginIdleTasks(); //Enable processor load calculations
+  beginIdleTasks(); //Enable processor load calculations
 
   beginUART2(); //Start UART2 on core 0, used to receive serial from ZED and pass out over SPP