Merge branch 'release_candidate' of https://github.com/sparkfun/SparkFun_RTK_Firmware into release_candidate

nseidle · nseidle · commit e3db3734b7fa · 2023-10-27T14:50:54.000-06:00
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
@@ -1,62 +1,93 @@
-// Initial startup functions for GNSS, SD, display, radio, etc
+/*------------------------------------------------------------------------------
+Begin.ino
 
-void identifyBoard()
+  This module implements the initial startup functions for GNSS, SD, display,
+  radio, etc.
+------------------------------------------------------------------------------*/
+
+//----------------------------------------
+// Constants
+//----------------------------------------
+
+#define MAX_ADC_VOLTAGE     3300    // Millivolts
+
+// Testing shows the combined ADC+resistors is under a 1% window
+#define TOLERANCE           4.75    // Percent:  95.25% - 104.75%
+
+//----------------------------------------
+// Macros
+//----------------------------------------
+
+//                                ADC input
+//                       Ra KOhms     |     Rb KOhms
+//  MAX_ADC_VOLTAGE -----/\/\/\/\-----+-----/\/\/\/\----- Ground
+//
+#define ADC_ID_mV(RaK, RbK)   ((uint16_t)(MAX_ADC_VOLTAGE * RbK / (RaK + RbK)))
+
+//----------------------------------------
+// Hardware initialization functions
+//----------------------------------------
+
+// Determine if the measured value matches the product ID value
+bool idWithAdc(uint16_t mvMeasured, uint16_t mvProduct)
 {
-    // Use ADC to check resistor divider
-    // Express: 10/3.3
-    // Express+: 3.3/10
-    // Facet: 10/10
-    // Facet L-Band: 10/20
-    // Reference Station: 20/10
-    // Facet L-Band Direct: 10/100
-    // Surveyor: ID resistors do not exist
-
-    const float rtkExpressID = 3.3 / (10 + 3.3) * 3300;          // 819mV
-    const float rtkExressPlusID = 10.0 / (10 + 3.3) * 3300;      // 2481mV
-    const float rtkFacetID = 10.0 / (10 + 10) * 3300;            // 1650mV
-    const float rtkFacetLbandID = 20.0 / (20 + 10) * 3300;       // 2200mV
-    const float rtkReferenceStationID = 10.0 / (10 + 20) * 3300; // 1100mV
-    const float rtkFacetLbandDirectID = 1.0 / (4.7 + 1) * 3300;  // 579mV
-
-    const float tolerance = 0.0475;             // 4.75% Testing shows the combined ADC+resistors is under a 1% window
-    const float upperThreshold = 1 + tolerance; // 104.75%
-    const float lowerThreshold = 1 - tolerance; // 95.25%
+    uint16_t lowerThreshold;
+    uint16_t upperThreshold;
+
+    // Return true if the mvMeasured value is within the tolerance range
+    // of the mvProduct value
+    upperThreshold = (1.0 + (TOLERANCE / 100.)) * mvProduct;
+    lowerThreshold = (1.0 - (TOLERANCE / 100.)) * mvProduct;
+    return (upperThreshold > mvMeasured) && (mvMeasured > lowerThreshold);
+}
 
+// Use a pair of resistors on pin 35 to ID the board type
+// If the ID resistors are not available then use a variety of other methods
+// (I2C, GPIO test, etc) to ID the board.
+// Assume no hardware interfaces have been started so we need to start/stop any hardware
+// used in tests accordingly.
+void identifyBoard()
+{
+    // Use ADC to check the resistor divider
     int pin_deviceID = 35;
     uint16_t idValue = analogReadMilliVolts(pin_deviceID);
     log_d("Board ADC ID (mV): %d", idValue);
 
-    if (idValue > (rtkFacetID * lowerThreshold) && idValue < (rtkFacetID * upperThreshold))
-    {
-        productVariant = RTK_FACET;
-    }
-    else if (idValue > (rtkFacetLbandID * lowerThreshold) && idValue < (rtkFacetLbandID * upperThreshold))
-    {
-        productVariant = RTK_FACET_LBAND;
-    }
-    else if (idValue > (rtkExpressID * lowerThreshold) && idValue < (rtkExpressID * upperThreshold))
-    {
+    // Order checks by millivolt values high to low
+
+    // Facet L-Band Direct: 4.7/1  -->  551mV < 579mV < 607mV
+    if (idWithAdc(idValue, ADC_ID_mV(4.7, 1)))
+        productVariant = RTK_FACET_LBAND_DIRECT;
+
+    // Express: 10/3.3  -->  779mV < 819mV < 858mV
+    else if (idWithAdc(idValue, ADC_ID_mV(10, 3.3)))
         productVariant = RTK_EXPRESS;
-    }
-    else if (idValue > (rtkExressPlusID * lowerThreshold) && idValue < (rtkExressPlusID * upperThreshold))
-    {
-        productVariant = RTK_EXPRESS_PLUS;
-    }
-    else if (idValue > (rtkReferenceStationID * lowerThreshold) && idValue < (rtkReferenceStationID * upperThreshold))
+
+    // Reference Station: 20/10  -->  1047mV < 1100mV < 1153mV
+    else if (idWithAdc(idValue, ADC_ID_mV(20, 10)))
     {
         productVariant = REFERENCE_STATION;
         // We can't auto-detect the ZED version if the firmware is in configViaEthernet mode,
         // so fake it here - otherwise messageSupported always returns false
         zedFirmwareVersionInt = 112;
     }
-    else if (idValue > (rtkFacetLbandDirectID * lowerThreshold) && idValue < (rtkFacetLbandDirectID * upperThreshold))
-    {
-        productVariant = RTK_FACET_LBAND_DIRECT;
-    }
+    // Facet: 10/10  -->  1571mV < 1650mV < 1729mV
+    else if (idWithAdc(idValue, ADC_ID_mV(10, 10)))
+        productVariant = RTK_FACET;
+
+    // Facet L-Band: 10/20  -->  2095mV < 2200mV < 2305mV
+    else if (idWithAdc(idValue, ADC_ID_mV(10, 20)))
+        productVariant = RTK_FACET_LBAND;
+
+    // Express+: 3.3/10  -->  2363mV < 2481mV < 2600mV
+    else if (idWithAdc(idValue, ADC_ID_mV(3.3, 10)))
+        productVariant = RTK_EXPRESS_PLUS;
+
+    // ID resistors do not exist for the following:
+    //      Surveyor
+    //      Unknown
     else
-    {
         productVariant = RTK_UNKNOWN; // Need to wait until the GNSS and Accel have been initialized
-    }
 }
 
 // Setup any essential power pins
@@ -172,9 +203,6 @@ void beginBoard()
         // Bug in ZED-F9P v1.13 firmware causes RTK LED to not light when RTK Floating with SBAS on.
         // The following changes the POR default but will be overwritten by settings in NVM or settings file
         settings.ubxConstellations[1].enabled = false;
-
-        strncpy(platformFilePrefix, "SFE_Surveyor", sizeof(platformFilePrefix) - 1);
-        strncpy(platformPrefix, "Surveyor", sizeof(platformPrefix) - 1);
     }
     else if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS)
     {
@@ -198,17 +226,6 @@ void beginBoard()
         pinMode(pin_setupButton, INPUT_PULLUP);
 
         setMuxport(settings.dataPortChannel); // Set mux to user's choice: NMEA, I2C, PPS, or DAC
-
-        if (productVariant == RTK_EXPRESS)
-        {
-            strncpy(platformFilePrefix, "SFE_Express", sizeof(platformFilePrefix) - 1);
-            strncpy(platformPrefix, "Express", sizeof(platformPrefix) - 1);
-        }
-        else if (productVariant == RTK_EXPRESS_PLUS)
-        {
-            strncpy(platformFilePrefix, "SFE_Express_Plus", sizeof(platformFilePrefix) - 1);
-            strncpy(platformPrefix, "Express Plus", sizeof(platformPrefix) - 1);
-        }
     }
     else if (productVariant == RTK_FACET || productVariant == RTK_FACET_LBAND ||
              productVariant == RTK_FACET_LBAND_DIRECT)
@@ -247,21 +264,8 @@ void beginBoard()
         pinMode(pin_radio_cts, OUTPUT);
         digitalWrite(pin_radio_cts, LOW);
 
-        if (productVariant == RTK_FACET)
-        {
-            strncpy(platformFilePrefix, "SFE_Facet", sizeof(platformFilePrefix) - 1);
-            strncpy(platformPrefix, "Facet", sizeof(platformPrefix) - 1);
-        }
-        else if (productVariant == RTK_FACET_LBAND)
-        {
-            strncpy(platformFilePrefix, "SFE_Facet_LBand", sizeof(platformFilePrefix) - 1);
-            strncpy(platformPrefix, "Facet L-Band", sizeof(platformPrefix) - 1);
-        }
-        else if (productVariant == RTK_FACET_LBAND_DIRECT)
+        if (productVariant == RTK_FACET_LBAND_DIRECT)
         {
-            strncpy(platformFilePrefix, "SFE_Facet_LBand_Direct", sizeof(platformFilePrefix) - 1);
-            strncpy(platformPrefix, "Facet L-Band Direct", sizeof(platformPrefix) - 1);
-
             // Override the default setting if a user has not explicitly configured the setting
             if (settings.useI2cForLbandCorrectionsConfigured == false)
                 settings.useI2cForLbandCorrections = false;
@@ -272,9 +276,6 @@ void beginBoard()
         // No powerOnCheck
 
         settings.enablePrintBatteryMessages = false; // No pesky battery messages
-
-        strncpy(platformFilePrefix, "SFE_Reference_Station", sizeof(platformFilePrefix) - 1);
-        strncpy(platformPrefix, "Reference Station", sizeof(platformPrefix) - 1);
     }
 
     char versionString[21];
@@ -1239,25 +1240,77 @@ void beginI2C()
 // Assign I2C interrupts to the core that started the task. See: https://github.com/espressif/arduino-esp32/issues/3386
 void pinI2CTask(void *pvParameters)
 {
+    bool i2cBusAvailable;
+    uint32_t timer;
+
     Wire.begin(); // Start I2C on core the core that was chosen when the task was started
     // Wire.setClock(400000);
 
-    // begin/end wire transmission to see if bus is responding correctly
-    // All good: 0ms, response 2
-    // SDA/SCL shorted: 1000ms timeout, response 5
-    // SCL/VCC shorted: 14ms, response 5
-    // SCL/GND shorted: 1000ms, response 5
-    // SDA/VCC shorted: 1000ms, reponse 5
-    // SDA/GND shorted: 14ms, response 5
-    Wire.beginTransmission(0x15); // Dummy address
-    int endValue = Wire.endTransmission();
-    if (endValue == 2)
-        online.i2c = true;
-    else
-        systemPrintln("Error: I2C Bus Not Responding");
+    // Display the device addresses
+    i2cBusAvailable = false;
+    for (uint8_t addr = 0; addr < 127; addr++)
+    {
+        // begin/end wire transmission to see if the bus is responding correctly
+        // All good: 0ms, response 2
+        // SDA/SCL shorted: 1000ms timeout, response 5
+        // SCL/VCC shorted: 14ms, response 5
+        // SCL/GND shorted: 1000ms, response 5
+        // SDA/VCC shorted: 1000ms, response 5
+        // SDA/GND shorted: 14ms, response 5
+        timer = millis();
+        Wire.beginTransmission(addr);
+        if (Wire.endTransmission() == 0)
+        {
+            i2cBusAvailable = true;
+            switch (addr)
+            {
+                default: {
+                    systemPrintf("0x%02x\r\n", addr);
+                    break;
+                }
 
-    i2cPinned = true;
+                case 0x19: {
+                    systemPrintf("0x%02x - LIS2DH12 Accelerometer\r\n", addr);
+                    break;
+                }
+
+                case 0x36: {
+                    systemPrintf("0x%02x - MAX17048 Fuel Guage\r\n", addr);
+                    break;
+                }
+
+                case 0x3d: {
+                    systemPrintf("0x%02x - SSD1306 (64x48) OLED Driver\r\n", addr);
+                    break;
+                }
+
+                case 0x42: {
+                    systemPrintf("0x%02x - u-blox ZED-F9P GNSS Receiver\r\n", addr);
+                    break;
+                }
+
+                case 0x43: {
+                    systemPrintf("0x%02x - u-blox NEO-D9S-00B Correction Data Receiver\r\n", addr);
+                    break;
+                }
 
+                case 0x60: {
+                    systemPrintf("0x%02x - Crypto Coprocessor\r\n", addr);
+                    break;
+                }
+            }
+        }
+        else if ((millis() - timer) > 3)
+        {
+            systemPrintln("Error: I2C Bus Not Responding");
+            i2cBusAvailable = false;
+            break;
+        }
+    }
+
+    // Update the I2C status
+    online.i2c = i2cBusAvailable;
+    i2cPinned = true;
     vTaskDelete(nullptr); // Delete task once it has run once
 }
 
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
@@ -605,35 +605,7 @@ void displaySplash()
         printTextCenter("RTK", yPos, QW_FONT_8X16, 1, false);
 
         yPos = yPos + fontHeight + 5;
-
-        if (productVariant == RTK_SURVEYOR)
-        {
-            printTextCenter("Surveyor", yPos, QW_FONT_8X16, 1, false);
-        }
-        else if (productVariant == RTK_EXPRESS)
-        {
-            printTextCenter("Express", yPos, QW_FONT_8X16, 1, false);
-        }
-        else if (productVariant == RTK_EXPRESS_PLUS)
-        {
-            printTextCenter("Express+", yPos, QW_FONT_8X16, 1, false);
-        }
-        else if (productVariant == RTK_FACET)
-        {
-            printTextCenter("Facet", yPos, QW_FONT_8X16, 1, false);
-        }
-        else if (productVariant == RTK_FACET_LBAND)
-        {
-            printTextCenter("Facet LB", yPos, QW_FONT_8X16, 1, false);
-        }
-        else if (productVariant == RTK_FACET_LBAND_DIRECT)
-        {
-            printTextCenter("Facet LB", yPos, QW_FONT_8X16, 1, false); //Same as L-Band at boot
-        }
-        else if (productVariant == REFERENCE_STATION)
-        {
-            printTextCenter("Ref Stn", yPos, QW_FONT_8X16, 1, false);
-        }
+        printTextCenter(productDisplayNames[productVariant], yPos, QW_FONT_8X16, 1, false);
 
         yPos = yPos + fontHeight + 7;
         char unitFirmware[50];
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -155,7 +155,7 @@ SdFat *sd;
 
 #include "FileSdFatMMC.h" //Hybrid SdFat and SD_MMC file access
 
-char platformFilePrefix[40] = "SFE_Surveyor"; // Sets the prefix for logs and settings files
+#define platformFilePrefix      platformFilePrefixTable[productVariant] // Sets the prefix for logs and settings files
 
 FileSdFatMMC *ubxFile;                // File that all GNSS ubx messages sentences are written to
 unsigned long lastUBXLogSyncTime = 0; // Used to record to SD every half second
@@ -419,7 +419,7 @@ float battChangeRate = 0.0;
 #include "bluetoothSelect.h"
 #endif  // COMPILE_BT
 
-char platformPrefix[55] = "Surveyor"; // Sets the prefix for broadcast names
+#define platformPrefix      platformPrefixTable[productVariant] // Sets the prefix for broadcast names
 
 #include <driver/uart.h>      //Required for uart_set_rx_full_threshold() on cores <v2.0.5
 HardwareSerial serialGNSS(2); // TX on 17, RX on 16
@@ -869,6 +869,9 @@ void setup()
 
     Serial.begin(115200); // UART0 for programming and debugging
 
+    DMW_c("verifyTables");
+    verifyTables (); // Verify the consistency of the internal tables
+
     DMW_c("identifyBoard");
     identifyBoard(); // Determine what hardware platform we are running on
 
@@ -904,9 +907,6 @@ void setup()
     DMW_c("beginLEDs");
     beginLEDs(); // LED and PWM setup
 
-    DMW_c("verifyTables");
-    verifyTables (); // Verify the consistency of the internal tables
-
     DMW_c("beginSD");
     beginSD(); // Test if SD is present
 
diff --git a/Firmware/RTK_Surveyor/System.ino b/Firmware/RTK_Surveyor/System.ino
@@ -1167,7 +1167,7 @@ void reportFatalError(const char *errorMsg)
 {
     while (1)
     {
-        systemPrint("ERROR: ");
+        systemPrint("HALTED: ");
         systemPrint(errorMsg);
         systemPrintln();
         sleep(15);
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
diff --git a/Firmware/RTK_Surveyor/support.ino b/Firmware/RTK_Surveyor/support.ino

Original file line number	Diff line number	Diff line change
`@@ -1167,7 +1167,7 @@ void reportFatalError(const char *errorMsg)`
`1167`	`1167`	`{`
`1168`	`1168`	`while (1)`
`1169`	`1169`	`{`
`1170`		`- systemPrint("ERROR: ");`
	`1170`	`+ systemPrint("HALTED: ");`
`1171`	`1171`	`systemPrint(errorMsg);`
`1172`	`1172`	`systemPrintln();`
`1173`	`1173`	`sleep(15);`