Add test menu

Author: Nathan Seidle

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?
-
+  Test lots of bt switching from setup switch. Test for null handles: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/freertos.html
+  
   BT cast batt, RTK status, etc
 
   Menu System:
@@ -129,6 +130,7 @@ const int resolution = 8;
 //Setup hardware serial and BT buffers
 #include "BluetoothSerial.h"
 BluetoothSerial SerialBT;
+  char deviceName[20]; //The serial string that is broadcast. Ex: 'Surveyor Base-BC61'
 
 HardwareSerial GPS(2);
 #define RXD2 16
@@ -178,6 +180,8 @@ enum returnStatus {
 //Global variables
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 const byte menuTimeout = 15; //Menus will exit/timeout after this number of seconds
+bool inTestMode = false; //Used to re-route BT traffic while in test sub menu
+
 uint32_t lastBluetoothLEDBlink = 0;
 uint32_t lastRoverUpdate = 0;
 uint32_t lastBaseUpdate = 0;
@@ -289,7 +293,11 @@ void setup()
   Serial.println(F("GPS configuration complete"));
 
   beginSD(); //Test if SD is present
-  
+  if(online.microSD == true)
+  {
+    Serial.println(F("microSD card online"));
+  }
+
   danceLEDs(); //Turn on LEDs like a car dashboard
 
   //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
@@ -368,27 +376,15 @@ void beginSD()
 
   if (settings.enableSD == true)
   {
-    // For reasons I don't understand, we seem to have to wait for at least 1ms after SPI.begin before we call microSDPowerOn.
-    // If you comment the next line, the Artemis resets at microSDPowerOn when beginSD is called from wakeFromSleep...
-    // But only on one of my V10 red boards. The second one I have doesn't seem to need the delay!?
-    delay(1);
-
-    //    microSDPowerOn();
-
     //Max power up time is 250ms: https://www.kingston.com/datasheets/SDCIT-specsheet-64gb_en.pdf
     //Max current is 200mA average across 1s, peak 300mA
-    for (int i = 0; i < 10; i++) //Wait
-    {
-      delay(1);
-    }
+    delay(10);
 
     if (sd.begin(PIN_MICROSD_CHIP_SELECT, SD_SCK_MHZ(24)) == false) //Standard SdFat
     {
       printDebug("SD init failed (first attempt). Trying again...\r\n");
-      for (int i = 0; i < 250; i++) //Give SD more time to power up, then try again
-      {
-        delay(1);
-      }
+      //Give SD more time to power up, then try again
+      delay(250);
       if (sd.begin(PIN_MICROSD_CHIP_SELECT, SD_SCK_MHZ(24)) == false) //Standard SdFat
       {
         Serial.println(F("SD init failed (second attempt). Is card present? Formatted?"));

Firmware/RTK_Enclosed/System.ino

@@ -1,6 +1,39 @@
 
 uint8_t settingPayload[MAX_PAYLOAD_SIZE]; //This array holds the payload data bytes. Global so that we can use between config functions.
 
+//Tack device's MAC address to end of friendly broadcast name
+//This allows multiple units to be on at same time
+bool 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
+
+  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]);
+  }
+
+  if (SerialBT.begin(deviceName) == false)
+    return (false);
+  Serial.print("Bluetooth broadcasting as: ");
+  Serial.println(deviceName);
+
+  //Start the tasks for handling incoming and outgoing BT bytes to/from ZED-F9P
+  xTaskCreate(F9PSerialReadTask, "F9Read", 10000, NULL, 0, NULL);
+  xTaskCreate(F9PSerialWriteTask, "F9Write", 10000, NULL, 0, NULL);
+
+  SerialBT.setTimeout(1);
+
+  return (true);
+}
+
 //If the phone has any new data (NTRIP RTCM, etc), read it in over Bluetooth and pass along to ZED
 //Task for writing to the GNSS receiver
 void F9PSerialWriteTask(void *e)
@@ -9,19 +42,26 @@ void F9PSerialWriteTask(void *e)
   {
     //Receive corrections from either the ESP32 USB or bluetooth
     //and write to the GPS
-    if (Serial.available())
-    {
-      auto s = Serial.readBytes(wBuffer, SERIAL_SIZE_RX);
-      GPS.write(wBuffer, s);
-    }
-    //    else if (SerialBT.connected() && SerialBT.available())
+    //    if (Serial.available())
+    //    {
+    //      auto s = Serial.readBytes(wBuffer, SERIAL_SIZE_RX);
+    //      GPS.write(wBuffer, s);
+    //    }
 
     if (SerialBT.available())
     {
       while (SerialBT.available())
       {
-        auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
-        GPS.write(wBuffer, s);
+        if (inTestMode == false)
+        {
+          //Pass bytes tp GNSS receiver
+          auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
+          GPS.write(wBuffer, s);
+        }
+        else
+        {
+          Serial.printf("I heard: %c\n", SerialBT.read());
+        }
       }
     }
 
@@ -344,42 +384,6 @@ void danceLEDs()
   digitalWrite(bluetoothStatusLED, LOW);
 }
 
-//Tack device's MAC address to end of friendly broadcast name
-//This allows multiple units to be on at same time
-bool 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]);
-  }
-
-  if (SerialBT.begin(deviceName) == false)
-    return (false);
-  Serial.print("Bluetooth broadcasting as: ");
-  Serial.println(deviceName);
-
-  //Start the tasks.
-  //Can also use xTaskCreatePinnedToCore to pin a task to one of the two cores
-  //on the ESP32
-  xTaskCreate(F9PSerialReadTask, "F9Read", 10000, NULL, 0, NULL);
-  xTaskCreate(F9PSerialWriteTask, "F9Write", 10000, NULL, 0, NULL);
-
-  SerialBT.setTimeout(1);
-
-  return (true);
-}
-
 boolean SFE_UBLOX_GPS_ADD::getModuleInfo(uint16_t maxWait)
 {
   myGPS.minfo.hwVersion[0] = 0;

Firmware/RTK_Enclosed/menuMain.ino

@@ -7,15 +7,15 @@ void menuMain()
     Serial.println();
     Serial.println(F("Menu: Main Menu"));
 
-    Serial.println(F("1) Configure Terminal Output"));
+    Serial.println(F("1) Configure Data Logging"));
 
-    Serial.println(F("2) Configure Time Stamp"));
-
-        if (settings.enableSD && online.microSD)
-          Serial.println(F("s) SD Card File Transfer"));
+    if (settings.enableSD && online.microSD)
+      Serial.println(F("s) SD Card File Transfer"));
 
     Serial.println(F("r) Reset all settings to default"));
 
+    Serial.println(F("t) Test menu"));
+
     Serial.println(F("x) Exit"));
 
     byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
@@ -43,6 +43,8 @@ void menuMain()
       //    else
       //      Serial.println(F("Reset aborted"));
     }
+    else if (incoming == 't')
+      menuTest();
     else if (incoming == 'x')
       break;
     else if (incoming == STATUS_GETBYTE_TIMEOUT)

Firmware/RTK_Enclosed/menuTest.ino

@@ -0,0 +1,85 @@
+//Production testing
+//Allow operator to output NMEA on radio port for connector testing
+//Scan for display
+void menuTest()
+{
+  inTestMode = true; //Reroutes bluetooth bytes
+
+  //Enable RTCM
+  myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART2, 1); //Enable message 1005 to output through UART2, message every second
+  myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART2, 1);
+  myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART2, 1);
+  myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART2, 1);
+  myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART2, 1);
+  myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 10); //Enable message every 10 seconds
+
+  while (1)
+  {
+    Serial.println();
+    Serial.println(F("Menu: Test Menu"));
+
+    Serial.print("Bluetooth broadcasting as: ");
+    Serial.println(deviceName);
+
+    Serial.println("Radio Port is now outputting RTCM");
+
+    if (settings.enableSD && online.microSD)
+    {
+      Serial.println("microSD card is successfully detected");
+    }
+
+    //0x3D is default on Qwiic board
+    if (isConnected(0x3D) == true || isConnected(0x3C) == true)
+      Serial.println("Qwiic Good. Display detected.");
+    else
+      Serial.println("Qwiic port failed! No display detected.");
+      
+    Serial.println(F("Any character received over Blueooth connection will be displayed here"));
+
+    Serial.println(F("1) Display microSD contents"));
+
+    Serial.println(F("2) Scan for Qwiic OLED display"));
+
+    Serial.println(F("x) Exit"));
+
+    byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
+
+    if (incoming == '1')
+    {
+      if (settings.enableSD && online.microSD)
+      {
+        Serial.println(F("Files found (date time size name):\n"));
+        sd.ls(LS_R | LS_DATE | LS_SIZE);
+      }
+    }
+    else if (incoming == 'x')
+      break;
+    else if (incoming == STATUS_GETBYTE_TIMEOUT)
+    {
+      Serial.println("time out");
+      //      break;
+    }
+    else
+      printUnknown(incoming);
+  }
+
+  inTestMode = false; //Reroutes bluetooth bytes
+
+  //Disable RTCM sentences
+  myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART2, 0);
+  myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART2, 0);
+  myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART2, 0);
+  myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART2, 0);
+  myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART2, 0);
+  myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 0);
+
+  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+}
+
+bool isConnected(uint8_t deviceAddress)
+{
+  Wire.beginTransmission(deviceAddress);
+  if (Wire.endTransmission() == 0)
+    return true;
+  return false;
+}