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Adding Ticker and xTask demos
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‎Firmware/Test Sketches/Ticker/System.ino‎

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//Ping an I2C device and see if it responds
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bool isConnected(uint8_t deviceAddress)
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{
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Wire.beginTransmission(deviceAddress);
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if (Wire.endTransmission() == 0)
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return true;
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return false;
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}

‎Firmware/Test Sketches/Ticker/Ticker.ino‎

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/*
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Use Ticker library to periodically check:
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Blink BT LED
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Check battery
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Update display
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Check GPS
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Update GPS data - We are going to use autoPVT and setAutoHPPOSLLH with Explicit Update. We will checkUblox() every 100ms.
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This will cause all dataums (SIV, HPA, etc) to update regularly but when we call getSIV() we will not force wait for the most recent
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data. This will also have the added benefit of regularly feeding processRTCM. Every checkUblox() call will pass any waiting RTCM
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bytes to a future NTRIP server.
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Because tickers can interrupt other tickers, we use a mutex semphore for the I2C hardware.
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This implementation still has display errors for unknown reasons. Going to try xTasks next.
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*/
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const int FIRMWARE_VERSION_MAJOR = 1;
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const int FIRMWARE_VERSION_MINOR = 1;
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#include "settings.h"
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SemaphoreHandle_t xI2CSemaphore;
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const int i2cSemaphore_maxWait = 5; //TickType_t
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//Hardware connections
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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const int positionAccuracyLED_1cm = 2;
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const int baseStatusLED = 4;
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const int baseSwitch = 5;
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const int bluetoothStatusLED = 12;
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const int positionAccuracyLED_100cm = 13;
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const int positionAccuracyLED_10cm = 15;
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const byte PIN_MICROSD_CHIP_SELECT = 25;
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const int zed_tx_ready = 26;
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const int zed_reset = 27;
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const int batteryLevelLED_Red = 32;
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const int batteryLevelLED_Green = 33;
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const int batteryLevel_alert = 36;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//Low frequency tasks
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#include <Ticker.h>
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Ticker checkUbloxTask;
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float checkUbloxTaskPace = 0.1; //Seconds
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Ticker btLEDTask;
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float btLEDTaskPace = 0.5; //Seconds
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Ticker updateDisplayTask;
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float updateDisplayTaskPace = 0.5; //Seconds
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Ticker battCheckTask;
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float battCheckTaskPace = 2.0; //Seconds
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//External Display
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#include <SFE_MicroOLED.h> //Click here to get the library: http://librarymanager/All#SparkFun_Micro_OLED
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#include "icons.h"
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#define PIN_RESET 9
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#define DC_JUMPER 1
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MicroOLED oled(PIN_RESET, DC_JUMPER);
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//GNSS configuration
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#define MAX_PAYLOAD_SIZE 384 // Override MAX_PAYLOAD_SIZE for getModuleInfo which can return up to 348 bytes
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#include "SparkFun_Ublox_Arduino_Library.h" //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
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//SFE_UBLOX_GPS myGPS;
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// Extend the class for getModuleInfo - See Example21_ModuleInfo
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class SFE_UBLOX_GPS_ADD : public SFE_UBLOX_GPS
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{
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public:
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boolean getModuleInfo(uint16_t maxWait = 1100); //Queries module, texts
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struct minfoStructure // Structure to hold the module info (uses 341 bytes of RAM)
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{
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char swVersion[30];
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char hwVersion[10];
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uint8_t extensionNo = 0;
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char extension[10][30];
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} minfo;
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};
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SFE_UBLOX_GPS_ADD myGPS;
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//This string is used to verify the firmware on the ZED-F9P. This
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//firmware relies on various features of the ZED and may require the latest
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//u-blox firmware to work correctly. We check the module firmware at startup but
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//don't prevent operation if firmware is mismatched.
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char latestZEDFirmware[] = "FWVER=HPG 1.13";
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//Used for config ZED for things not supported in library: getPortSettings, getSerialRate, getNMEASettings, getRTCMSettings
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//This array holds the payload data bytes. Global so that we can use between config functions.
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uint8_t settingPayload[MAX_PAYLOAD_SIZE];
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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//Battery fuel gauge and PWM LEDs
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#include <SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.h> // Click here to get the library: http://librarymanager/All#SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library
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SFE_MAX1704X lipo(MAX1704X_MAX17048);
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// setting PWM properties
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const int freq = 5000;
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const int ledRedChannel = 0;
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const int ledGreenChannel = 1;
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const int resolution = 8;
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int battLevel = 0; //SOC measured from fuel gauge, in %. Used in multiple places (display, serial debug, log)
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float battVoltage = 0.0;
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float battChangeRate = 0.0;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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Serial.begin(115200);
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delay(100);
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Serial.println("Testing tasks");
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pinMode(bluetoothStatusLED, OUTPUT);
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Wire.begin();
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//Wire.setClock(100000);
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beginLEDs(); //LED and PWM setup
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beginDisplay(); //Check if an external Qwiic OLED is attached
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beginFuelGauge(); //Start I2C device
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beginGNSS(); //Connect and configure ZED-F9P
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bluetoothState = BT_ON_NOCONNECTION;
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//Wire.setClock(400000); //The battery and ublox modules seem to dislike 400kHz
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if (xI2CSemaphore == NULL)
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{
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xI2CSemaphore = xSemaphoreCreateMutex();
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if (xI2CSemaphore != NULL)
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xSemaphoreGive(xI2CSemaphore); //Make the I2C hardware available for use
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}
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//Start tasks
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btLEDTask.attach(btLEDTaskPace, updateBTled); //Rate in seconds, callback
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battCheckTask.attach(battCheckTaskPace, checkBatteryLevels);
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checkUbloxTask.attach(checkUbloxTaskPace, checkUblox); //Call the checkUblox function
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if (online.display == true)
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updateDisplayTask.attach(updateDisplayTaskPace, updateDisplay);
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}
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void loop() {
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}

‎Firmware/Test Sketches/Ticker/begin.ino‎

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//Connect to and configure ZED-F9P
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void beginGNSS()
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{
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if (myGPS.begin() == false)
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{
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//Try again with power on delay
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delay(1000); //Wait for ZED-F9P to power up before it can respond to ACK
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if (myGPS.begin() == false)
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Hard stop."));
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while(1);
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}
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}
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//myGPS.enableDebugging();
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bool response = true;
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//response &= myGPS.setAutoPVT(true); //Tell the GPS to "send" each solution
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response &= myGPS.setAutoPVT(true, false); //Tell the GPS to "send" each solution, but do not update stale data when accessed
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response &= myGPS.setAutoHPPOSLLH(true, false); //Tell the GPS to "send" each high res solution, but do not update stale data when accessed
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//response &= myGPS.setAutoPVT(false); //Turn off PVT
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if(response == false)
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{
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Serial.println("PVT failed!");
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while(1);
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}
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Serial.println(F("GNSS configuration complete"));
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}
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//Configure the on board MAX17048 fuel gauge
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void beginFuelGauge()
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{
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// Set up the MAX17048 LiPo fuel gauge
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if (lipo.begin() == false)
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{
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Serial.println(F("MAX17048 not detected. Continuing."));
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return;
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}
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//Always use hibernate mode
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if (lipo.getHIBRTActThr() < 0xFF) lipo.setHIBRTActThr((uint8_t)0xFF);
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if (lipo.getHIBRTHibThr() < 0xFF) lipo.setHIBRTHibThr((uint8_t)0xFF);
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Serial.println(F("MAX17048 configuration complete"));
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}
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void beginDisplay()
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{
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//0x3D is default on Qwiic board
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if (isConnected(0x3D) == true || isConnected(0x3C) == true)
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{
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online.display = true;
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//Init and display splash
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oled.begin(); // Initialize the OLED
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oled.clear(PAGE); // Clear the display's internal memory
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oled.setCursor(10, 2); //x, y
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oled.setFontType(0); //Set font to smallest
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oled.print("SparkFun");
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oled.setCursor(21, 13);
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oled.setFontType(1);
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oled.print("RTK");
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int surveyorTextY = 25;
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int surveyorTextX = 2;
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int surveyorTextKerning = 8;
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oled.setFontType(1);
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("S");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("u");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("r");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("v");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("e");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("y");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("o");
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surveyorTextX += surveyorTextKerning;
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oled.setCursor(surveyorTextX, surveyorTextY);
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oled.print("r");
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oled.setCursor(20, 41);
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oled.setFontType(0); //Set font to smallest
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oled.printf("v%d.%d", FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
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oled.display();
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}
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}
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//Set LEDs for output and configure PWM
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void beginLEDs()
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{
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pinMode(positionAccuracyLED_1cm, OUTPUT);
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pinMode(positionAccuracyLED_10cm, OUTPUT);
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pinMode(positionAccuracyLED_100cm, OUTPUT);
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pinMode(baseStatusLED, OUTPUT);
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pinMode(bluetoothStatusLED, OUTPUT);
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pinMode(baseSwitch, INPUT_PULLUP); //HIGH = rover, LOW = base
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digitalWrite(positionAccuracyLED_1cm, LOW);
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digitalWrite(positionAccuracyLED_10cm, LOW);
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digitalWrite(positionAccuracyLED_100cm, LOW);
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digitalWrite(baseStatusLED, LOW);
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digitalWrite(bluetoothStatusLED, LOW);
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ledcSetup(ledRedChannel, freq, resolution);
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ledcSetup(ledGreenChannel, freq, resolution);
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ledcAttachPin(batteryLevelLED_Red, ledRedChannel);
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ledcAttachPin(batteryLevelLED_Green, ledGreenChannel);
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ledcWrite(ledRedChannel, 0);
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ledcWrite(ledGreenChannel, 0);
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}

‎Firmware/Test Sketches/Ticker/icons.h‎

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//Create a bitmap then use http://en.radzio.dxp.pl/bitmap_converter/ to generate output
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//Make sure the bitmap is n*8 pixels tall (pad white pixels to lower area as needed)
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//Otherwise the bitmap bitmap_converter will compress some of the bytes together
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uint8_t BT_Symbol [] = {
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0x18, 0x30, 0xE0, 0xFF, 0xE6, 0x3C, 0x18, 0x06, 0x03, 0x01, 0x3F, 0x19, 0x0F, 0x06,
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};
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int BT_Symbol_Height = 14;
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int BT_Symbol_Width = 7;
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uint8_t CrossHair [] = {
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0x80, 0x80, 0xF0, 0x88, 0x84, 0x84, 0x84, 0x7F, 0x84, 0x84, 0x84, 0x88, 0xF0, 0x80, 0x80, 0x00,
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0x00, 0x07, 0x08, 0x10, 0x10, 0x10, 0x7F, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00, 0x00,
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};
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int CrossHair_Height = 15;
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int CrossHair_Width = 15;
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uint8_t Antenna [] = {
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0x7E, 0xC3, 0x03, 0x06, 0x04, 0x0C, 0x18, 0x38, 0x7C, 0xCE, 0x84, 0x00, 0x00, 0x01, 0x1F, 0x1E,
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0x1C, 0x0C, 0x08, 0x08, 0x0C, 0x04, 0x07, 0x07,
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};
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int Antenna_Height = 13;
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int Antenna_Width = 12;
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uint8_t Rover [] = {
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0x3C, 0x24, 0x64, 0xF4, 0xF7, 0x61, 0x21, 0x21, 0x21, 0x61, 0xF7, 0xF4, 0x64, 0x3C, 0x18,
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};
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int Rover_Height = 8;
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int Rover_Width = 15;
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uint8_t Base [] = {
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0x00, 0xFF, 0x23, 0x13, 0x08, 0x88, 0x88, 0x88, 0x88, 0x08, 0x10, 0x20, 0xC0, 0x00, 0x0E, 0x09,
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0x08, 0x08, 0x08, 0x0F, 0x00, 0x00, 0x0F, 0x08, 0x08, 0x08, 0x09, 0x0E,
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};
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int Base_Height = 12;
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int Base_Width = 14;
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uint8_t Battery_3 [] = {
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0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01,
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0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B,
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0x0B, 0x0B, 0x08, 0x0F, 0x01, 0x01,
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};
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int Battery_3_Height = 12;
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int Battery_3_Width = 19;
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uint8_t Battery_2 [] = {
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0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
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0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08,
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0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
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};
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int Battery_2_Height = 12;
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int Battery_2_Width = 19;
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uint8_t Battery_1 [] = {
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0xFF, 0x01, 0xFD, 0xFD, 0xFD, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
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0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x0B, 0x0B, 0x0B, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
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0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
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};
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int Battery_1_Height = 12;
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int Battery_1_Width = 19;
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uint8_t Battery_0 [] = {
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0xFF, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
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0x0F, 0x08, 0xF8, 0x0F, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08,
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0x08, 0x08, 0x08, 0x0F, 0x01, 0x01,
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};
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int Battery_0_Height = 12;
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int Battery_0_Width = 19;

‎Firmware/Test Sketches/Ticker/settings.h‎

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//Bluetooth status LED goes from off (LED off), no connection (blinking), to connected (solid)
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enum BluetoothState
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{
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BT_OFF = 0,
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BT_ON_NOCONNECTION,
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BT_CONNECTED,
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};
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volatile byte bluetoothState = BT_OFF;
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//These are the devices on board RTK Surveyor that may be on or offline.
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struct struct_online {
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bool microSD = false;
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bool display = false;
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bool dataLogging = false;
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bool serialOutput = false;
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bool eeprom = false;
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} online;

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