Change LED colors.

Author: Nathan Seidle

Firmware/MACInName/MACInName.ino

@@ -0,0 +1,45 @@
+#include "BluetoothSerial.h"
+BluetoothSerial SerialBT;
+
+const int baseSwitch = 5;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("MAC test");
+
+  pinMode(baseSwitch, INPUT_PULLUP); //HIGH = rover, LOW = base
+
+  startBluetooth();
+
+}
+
+void loop() {
+
+
+}
+
+//Tack device's MAC address to end of friendly broadcast name
+//This allows multiple units to be on at same time
+void startBluetooth()
+{
+  uint8_t mac[6];
+  esp_read_mac(mac, ESP_MAC_WIFI_STA);
+  mac[5] += 2; //Convert MAC address to Bluetooth MAC (add 2): https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/system.html#mac-address
+
+  char deviceName[20];
+  if (digitalRead(baseSwitch) == HIGH) 
+  {
+    //Rover mode
+    sprintf(deviceName, "Surveyor Rover-%02X%02X", mac[4], mac[5]);
+  }
+  else
+  {
+    //Base mode
+    sprintf(deviceName, "Surveyor Base-%02X%02X", mac[4], mac[5]);
+  }
+
+  Serial.print("Bluetooth broadcast as: ");
+  Serial.println(deviceName);
+
+  SerialBT.begin(deviceName);
+}

Firmware/RTK_Enclosed/Base.ino

@@ -0,0 +1,156 @@
+//Wait for survey in to complete
+bool updateSurveyInStatus()
+{
+  //Update the LEDs only every second or so
+  if (millis() - lastBaseUpdate > 1000)
+  {
+    lastBaseUpdate = millis();
+
+    bool response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+    if (response == true)
+    {
+      if (myGPS.svin.valid == true)
+      {
+        Serial.println(F("Base survey complete! RTCM now broadcasting."));
+        baseState = BASE_TRANSMITTING;
+
+        digitalWrite(baseStatusLED, HIGH); //Turn on LED
+      }
+      else
+      {
+        byte SIV = myGPS.getSIV();
+
+        Serial.print(F("Time elapsed: "));
+        Serial.print((String)myGPS.svin.observationTime);
+        Serial.print(F(" Accuracy: "));
+        Serial.print((String)myGPS.svin.meanAccuracy);
+        Serial.print(F(" SIV: "));
+        Serial.print(SIV);
+        Serial.println();
+
+        SerialBT.print(F("Time elapsed: "));
+        SerialBT.print((String)myGPS.svin.observationTime);
+        SerialBT.print(F(" Accuracy: "));
+        SerialBT.print((String)myGPS.svin.meanAccuracy);
+        SerialBT.print(F(" SIV: "));
+        SerialBT.print(SIV);
+        SerialBT.println();
+
+        if (myGPS.svin.meanAccuracy > 6.0)
+          baseState = BASE_SURVEYING_IN_SLOW;
+        else
+          baseState = BASE_SURVEYING_IN_FAST;
+
+        if (myGPS.svin.observationTime > maxSurveyInWait_s)
+        {
+          Serial.println(F("Survey-In took more than 5 minutes. Restarting survey in."));
+
+          resetSurvey();
+
+          surveyIn();
+        }
+      }
+    }
+    else
+    {
+      Serial.println(F("SVIN request failed"));
+    }
+  }
+
+  //Update the Base LED accordingly
+  if (baseState == BASE_SURVEYING_IN_SLOW)
+  {
+    if (millis() - baseStateBlinkTime > 500)
+    {
+      baseStateBlinkTime += 500;
+      Serial.println(F("Slow blink"));
+
+      if (digitalRead(baseStatusLED) == LOW)
+        digitalWrite(baseStatusLED, HIGH);
+      else
+        digitalWrite(baseStatusLED, LOW);
+    }
+  }
+  else if (baseState == BASE_SURVEYING_IN_FAST)
+  {
+    if (millis() - baseStateBlinkTime > 100)
+    {
+      baseStateBlinkTime += 100;
+      Serial.println(F("Fast blink"));
+
+      if (digitalRead(baseStatusLED) == LOW)
+        digitalWrite(baseStatusLED, HIGH);
+      else
+        digitalWrite(baseStatusLED, LOW);
+    }
+  }
+}
+
+//Configure specific aspects of the receiver for base mode
+bool configureUbloxModuleBase()
+{
+  bool response = true;
+
+  digitalWrite(positionAccuracyLED_20mm, LOW);
+  digitalWrite(positionAccuracyLED_100mm, LOW);
+  digitalWrite(positionAccuracyLED_1000mm, LOW);
+
+  // Set dynamic model
+  if (myGPS.getDynamicModel() != DYN_MODEL_STATIONARY)
+  {
+    if (myGPS.setDynamicModel(DYN_MODEL_STATIONARY) == false)
+    {
+      Serial.println(F("setDynamicModel failed!"));
+      return (false);
+    }
+  }
+
+  if (getRTCMSettings(UBX_RTCM_1005, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART2, 1); //Enable message 1005 to output through UART2, message every second
+  if (getRTCMSettings(UBX_RTCM_1074, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1084, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1094, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1124, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1230, COM_PORT_UART2) != 10)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 10); //Enable message every 10 seconds
+
+  if (response == false)
+  {
+    Serial.println(F("RTCM failed to enable."));
+    return (false);
+  }
+
+  return (response);
+}
+
+//Start survey
+//The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
+void surveyIn()
+{
+  resetSurvey();
+
+  bool response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+  if (response == false)
+  {
+    Serial.println(F("Survey start failed"));
+    return;
+  }
+  Serial.println(F("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved."));
+
+  baseState = BASE_SURVEYING_IN_SLOW;
+}
+
+void resetSurvey()
+{
+  //Slightly modified method for restarting survey-in from: https://portal.u-blox.com/s/question/0D52p00009IsVoMCAV/restarting-surveyin-on-an-f9p
+  bool response = myGPS.disableSurveyMode(); //Disable survey
+  delay(500);
+  response &= myGPS.enableSurveyMode(1000, 400.000); //Enable Survey in with bogus values
+  delay(500);
+  response &= myGPS.disableSurveyMode(); //Disable survey
+  delay(500);
+}