Enable RTCM over I2C only in base mode.

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -34,6 +34,15 @@ bool configureUbloxModuleBase()
     }
   }
 
+#define OUTPUT_SETTING 14
+
+  //Turn on RTCM so that we can harvest RTCM over I2C and send out over WiFi
+  //This is easier than parsing over UART because the library handles the frame detection
+  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 - 
+
   //In base mode the Surveyor should output RTCM over UART2 and I2C 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

Firmware/RTK_Surveyor/Rover.ino

@@ -24,6 +24,14 @@ bool configureUbloxModuleRover()
       Serial.println(F("setDynamicModel failed"));
   }
 
+#define OUTPUT_SETTING 14
+
+  //Turn off all traffic except UBX to reduce I2C bus errors and ESP32 resets as much as possible
+  getPortSettings(COM_PORT_I2C); //Load the settingPayload with this port's settings
+  if (settingPayload[OUTPUT_SETTING] != (COM_TYPE_UBX))
+    response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX); //Set the I2C port to output UBX (config)
+  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+I2C+ RTCM3 - Set the I2C port to output UBX (config), and RTCM3 (casting)
+
   //RTCM is only available on ZED-F9P modules
   if (zedModuleType == PLATFORM_F9P)
   {

Firmware/RTK_Surveyor/System.ino

@@ -196,13 +196,6 @@ bool configureUbloxModule()
   if (settingPayload[INPUT_SETTING] != COM_TYPE_RTCM3)
     response &= i2cGNSS.setPortInput(COM_PORT_UART2, COM_TYPE_RTCM3); //Set the UART2 to input RTCM
 
-  //Turn on RTCM over I2C port so that we can harvest RTCM over I2C and send out over WiFi
-  //This is easier than parsing over UART because the library handles the frame detection
-  getPortSettings(COM_PORT_I2C); //Load the settingPayload with this port's settings
-  if (settingPayload[OUTPUT_SETTING] != (COM_TYPE_UBX))
-    response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX); //Set the I2C port to output UBX (config)
-  //response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+I2C+ RTCM3 - Set the I2C port to output UBX (config), and RTCM3 (casting)
-
   if (settingPayload[INPUT_SETTING] != COM_TYPE_UBX)
     response &= i2cGNSS.setPortInput(COM_PORT_I2C, COM_TYPE_UBX); //Set the I2C port to input UBX only