Add previous state retention. Allows Express to startup in last used rover/base state.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -362,3 +362,25 @@ void beginAccelerometer()
 
   online.accelerometer = true;
 }
+
+//Depending on platform and previous power down state, set system state
+void beginSystemState()
+{
+  if (productVariant == RTK_SURVEYOR)
+  {
+    //Assume Rover. checkButtons() will correct as needed.
+    systemState = STATE_ROVER_NOT_STARTED;
+    buttonPreviousState = BUTTON_BASE;
+  }
+  if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS)
+  {
+    systemState = settings.lastState; //Return to system state previous to power down.
+
+    if (systemState == STATE_ROVER_NOT_STARTED)
+      buttonPreviousState = BUTTON_ROVER;
+    else if (systemState == STATE_BASE_NOT_STARTED)
+      buttonPreviousState = BUTTON_BASE;
+    else
+      buttonPreviousState = BUTTON_ROVER;
+  }
+}

Firmware/RTK_Surveyor/NVM.ino

@@ -137,6 +137,7 @@ void recordSystemSettingsToFile()
       settingsFile.println("sppRxQueueSize=" + (String)settings.sppRxQueueSize);
       settingsFile.println("sppTxQueueSize=" + (String)settings.sppTxQueueSize);
       settingsFile.println("dynamicModel=" + (String)settings.dynamicModel);
+      settingsFile.println("lastState=" + (String)settings.lastState);
 
       //Record message settings
       for (int x = 0 ; x < MAX_UBX_MSG ; x++)
@@ -385,6 +386,8 @@ bool parseLine(char* str) {
     settings.sppTxQueueSize = d;
   else if (strcmp(settingName, "dynamicModel") == 0)
     settings.dynamicModel = d;
+  else if (strcmp(settingName, "lastState") == 0)
+    settings.lastState = (SystemState)d;
 
   //Check for message rates
   //Must be last on else list

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -332,6 +332,8 @@ void setup()
 
   beginAccelerometer();
 
+  beginSystemState(); //Determine initial system state
+  
   Serial.flush(); //Complete any previous prints
 
   danceLEDs(); //Turn on LEDs like a car dashboard

Firmware/RTK_Surveyor/States.ino

@@ -32,6 +32,10 @@ void updateSystemState()
 
           if (productVariant == RTK_SURVEYOR)
             digitalWrite(pin_baseStatusLED, LOW);
+
+          settings.lastState = STATE_ROVER_NOT_STARTED;
+          recordSystemSettings();
+
           displayRoverSuccess(500);
 
           changeState(STATE_ROVER_NO_FIX);
@@ -101,6 +105,9 @@ void updateSystemState()
 
           if (configureUbloxModuleBase() == true)
           {
+            settings.lastState = STATE_BASE_NOT_STARTED; //Record this state for next POR
+            recordSystemSettings();
+
             displayBaseSuccess(500); //Show 'Base Started'
 
             if (settings.fixedBase == false)

Firmware/RTK_Surveyor/settings.h

@@ -282,6 +282,7 @@ struct struct_settings {
   uint16_t sppRxQueueSize = 2048;
   uint16_t sppTxQueueSize = 512;
   uint8_t dynamicModel = DYN_MODEL_PORTABLE;
+  SystemState lastState = STATE_ROVER_NO_FIX; //For Express, start unit in state prior to powerdown
 } settings;
 
 //These are the devices on board RTK Surveyor that may be on or offline.