Fix BT RX of NTRIP data

The trick was setting the BT timeout to 1ms.

Author: nseidle

Firmware/BT_NTRIP-RTCM_Bug/BT_NTRIP-RTCM_Bug.ino

@@ -0,0 +1,94 @@
+/*
+  September 1st, 2020
+  SparkFun Electronics
+  Nathan Seidle
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+
+// setting PWM properties
+const int freq = 5000;
+const int ledRedChannel = 0;
+const int ledGreenChannel = 1;
+const int resolution = 8;
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+//Setup hardware serial and BT buffers
+#include "BluetoothSerial.h"
+BluetoothSerial SerialBT;
+
+HardwareSerial GPS(2);
+#define RXD2 16
+#define TXD2 17
+
+#define SERIAL_SIZE_RX 1024 * 16 //Using a large buffer. This might be much bigger than needed but the ESP32 has enough RAM
+uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading F9P
+uint8_t wBuffer[SERIAL_SIZE_RX]; //Buffer for writing to F9P
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+//Hardware connections v11
+const int positionAccuracyLED_1cm = 2;
+const int baseStatusLED = 4;
+const int baseSwitch = 5;
+const int bluetoothStatusLED = 12;
+const int positionAccuracyLED_100cm = 13;
+const int positionAccuracyLED_10cm = 15;
+const int sd_cs = 25;
+const int zed_tx_ready = 26;
+const int zed_reset = 27;
+const int batteryLevelLED_Red = 32;
+const int batteryLevelLED_Green = 33;
+const int batteryLevel_alert = 36;
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+void setup()
+{
+  Serial.begin(115200); //UART0 for programming and debugging
+  Serial.setRxBufferSize(SERIAL_SIZE_RX);
+  Serial.setTimeout(1);
+  
+  GPS.begin(115200); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at 115200bps.
+  GPS.setRxBufferSize(SERIAL_SIZE_RX);
+  GPS.setTimeout(1);
+
+  Wire.begin();
+
+  Serial.println("SparkFun RTK Surveyor v1.0");
+
+  pinMode(positionAccuracyLED_1cm, OUTPUT);
+  pinMode(positionAccuracyLED_10cm, OUTPUT);
+  pinMode(positionAccuracyLED_100cm, OUTPUT);
+  pinMode(baseStatusLED, OUTPUT);
+  pinMode(bluetoothStatusLED, OUTPUT);
+  pinMode(baseSwitch, INPUT_PULLUP); //HIGH = rover, LOW = base
+
+  digitalWrite(positionAccuracyLED_1cm, LOW);
+  digitalWrite(positionAccuracyLED_10cm, LOW);
+  digitalWrite(positionAccuracyLED_100cm, LOW);
+  digitalWrite(baseStatusLED, LOW);
+  digitalWrite(bluetoothStatusLED, LOW);
+
+  //SerialBT.register_callback(btCallback);
+  if (startBluetooth() == false)
+  {
+    Serial.println("An error occurred initializing Bluetooth");
+    digitalWrite(bluetoothStatusLED, LOW);
+  }
+  else
+  {
+    digitalWrite(bluetoothStatusLED, HIGH);
+  }
+
+  //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
+}
+
+void loop()
+{
+
+  delay(10); //Required if no other I2C or functions are called
+
+}

Firmware/BT_NTRIP-RTCM_Bug/Base.ino

@@ -0,0 +1 @@
+

Firmware/BT_NTRIP-RTCM_Bug/Rover.ino

@@ -0,0 +1 @@
+

Firmware/BT_NTRIP-RTCM_Bug/System.ino

@@ -0,0 +1,54 @@
+//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)
+{
+  while (true)
+  {
+    if (SerialBT.available())
+    {
+      while (SerialBT.available())
+      {
+        auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
+        GPS.write(wBuffer, s);
+      }
+    }
+
+    taskYIELD();
+  }
+}
+
+//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);
+}

Firmware/RTK_Enclosed/RTK_Enclosed.ino

@@ -321,5 +321,6 @@ void loop()
   }
 
   updateBattLEDs();
+  delay(10); //Required if no other I2C or functions are called
 
 }

Firmware/RTK_Enclosed/System.ino

@@ -1,7 +1,7 @@
 
 uint8_t settingPayload[MAX_PAYLOAD_SIZE]; //This array holds the payload data bytes. Global so that we can use between config functions.
 
-//If the phone has any new data (NTRIP RTCM, etc), pass it out over Bluetooth
+//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)
 {
@@ -14,10 +14,15 @@ void F9PSerialWriteTask(void *e)
       auto s = Serial.readBytes(wBuffer, SERIAL_SIZE_RX);
       GPS.write(wBuffer, s);
     }
-    else if (SerialBT.connected() && SerialBT.available())
+//    else if (SerialBT.connected() && SerialBT.available())
+    
+    if (SerialBT.available())
     {
-      auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
-      GPS.write(wBuffer, s);
+      while (SerialBT.available())
+      {
+        auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
+        GPS.write(wBuffer, s);
+      }
     }
 
     taskYIELD();
@@ -115,17 +120,9 @@ bool configureUbloxModule()
 
   //When receiving 15+ satellite information, the GxGSV sentences can be a large amount of data
   //If the update rate is >1Hz then this data can overcome the BT capabilities causing timeouts and lag
-  if (gnssUpdateRate == 1)
-  {
-    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 1)
-      response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
-  }
-  else
-  {
-    //Turn off satellite sentences
-    if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != 0)
-      response &= myGPS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
-  }
+  //So we set the GSV sentence to 1Hz regardless of update rate
+  if (getNMEASettings(UBX_NMEA_GSV, COM_PORT_UART1) != gnssUpdateRate)
+    response &= myGPS.enableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1, gnssUpdateRate);
 
   if (getNMEASettings(UBX_NMEA_RMC, COM_PORT_UART1) != 1)
     response &= myGPS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
@@ -378,6 +375,8 @@ bool startBluetooth()
   xTaskCreate(F9PSerialReadTask, "F9Read", 10000, NULL, 0, NULL);
   xTaskCreate(F9PSerialWriteTask, "F9Write", 10000, NULL, 0, NULL);
 
+  SerialBT.setTimeout(1);
+
   return (true);
 }