Merge pull request #7 from sparkfun/release_candidate

Updates for GNSSDO+

Author: PaulZC

.github/workflows/build-for-release.yml

@@ -5,8 +5,8 @@ on:
 
 env:
   FILENAME_PREFIX: GNSSDO_Firmware
-  FIRMWARE_VERSION_MAJOR: 1
-  FIRMWARE_VERSION_MINOR: 5
+  FIRMWARE_VERSION_MAJOR: 2
+  FIRMWARE_VERSION_MINOR: 0
   CORE_VERSION: 3.0.7
 
 jobs:

Firmware/GNSSDO_Firmware/Begin.ino

@@ -58,26 +58,30 @@ void identifyBoard()
 
     // Order the following ID checks, by millivolt values high to low
 
-    // GNSSDO: 1/1  -->  1571mV < 1650mV < 1729mV
+    // GNSSDO: 1/1  -->  1564mV < 1650mV < 1736mV
     if (idWithAdc(idValue, 1, 1))
-        productVariant = RTK_MOSAIC_T;
+        productVariant = GNSSDO;
+
+    // GNSSDO+: 1/2.2  -->  2193mV < 2269mV < 2342mV
+    else if (idWithAdc(idValue, 1, 2.2))
+        productVariant = GNSSDO_PLUS;
 
     else
     {
         systemPrintln("Out of band or nonexistent resistor IDs");
-        productVariant = RTK_UNKNOWN;
+        productVariant = GNSSDO_UNKNOWN;
     }
 }
 
 void beginBoard()
 {
-    if (productVariant == RTK_UNKNOWN)
+    if (productVariant == GNSSDO_UNKNOWN)
     {
         reportFatalError("RTK Variant Unknown");
     }
 
     // Setup hardware pins
-    if (productVariant == RTK_MOSAIC_T)
+    if (productVariant == GNSSDO || productVariant == GNSSDO_PLUS)
     {
         //   ESP32-WROVER-IE Pin Allocations:
         //   D0  : Boot + Boot Button
@@ -96,37 +100,32 @@ void beginBoard()
         //   D19 : I2C SCL2 (SiT5358)
         //   D21 : I2C SDA (OLED)
         //   D22 : I2C SCL (OLED)
-        //   D23 : N/C
+        //   D23 : Serial TX Alt (mosaic-T COM3 RX)
         //   D25 : Serial TX (mosaic-T COM4 RX)
         //   D26 : Serial CTS (mosaic-T COM1 CTS)
         //   D27 : Serial RTS (mosaic-T COM1 RTS)
         //   D32 : Error LED
         //   D33 : Lock LED
-        //   A34 : N/C
+        //   A34 : Serial RX Alt (mosaic-T COM3 TX)
         //   A35 : Device Sense (resistor divider)
         //   A36 : MRDY (mosaic-T module ready)
         //   A39 : N/C
 
-        pin_errorLED = 32;
-        pin_lockLED = 33;
-
-        pin_serial0TX_Alt = 23;
-        pin_serial0RX_Alt = 34;
-        pin_serial1TX = 14;
-        pin_serial1RX = 13;
-        pin_serial1CTS = 26;
-        pin_serial1RTS = 27;
-
-        pin_serial2TX = 25;
+        pin_setupButton = 0;
         pin_serial2RX = 4;
-
-        pin_SDA1 = 21;
-        pin_SCL1 = 22;
-
+        pin_serial1RX = 13;
+        pin_serial1TX = 14;
         pin_SDA2 = 18;
         pin_SCL2 = 19;
-
-        pin_setupButton = 0;
+        pin_SDA1 = 21;
+        pin_SCL1 = 22;
+        pin_serial0TX_Alt = 23;
+        pin_serial2TX = 25;
+        pin_serial1CTS = 26;
+        pin_serial1RTS = 27;
+        pin_errorLED = 32;
+        pin_lockLED = 33;
+        pin_serial0RX_Alt = 34;
 
         displayType = DISPLAY_128x64;
     }
@@ -287,7 +286,7 @@ void beginFS()
 // Set LEDs for output and configure PWM
 void beginLEDs()
 {
-    if (productVariant == RTK_MOSAIC_T)
+    if (productVariant == GNSSDO || productVariant == GNSSDO_PLUS)
     {
         pinMode(pin_errorLED, OUTPUT);
         pinMode(pin_lockLED, OUTPUT);
@@ -317,7 +316,7 @@ void beginSystemState()
         factoryReset(false); // We do not have the SD semaphore
     }
 
-    if (productVariant == RTK_MOSAIC_T)
+    if (productVariant == GNSSDO || productVariant == GNSSDO_PLUS)
     {
         if (settings.lastState == STATE_NOT_SET) // Default after factory reset
             settings.lastState = STATE_GNSS_NOT_CONFIGURED;
@@ -515,8 +514,16 @@ void pinI2C2Task(void *pvParameters)
 void beginTCXO(TwoWire *i2cBus)
 {
     if (!i2cBus)
-        reportFatalError("Illegal TCXO i2cBus");
-
+    {
+        // No i2cBus for TCXO
+        // There is some redundancy here. If online.tcxo is never set true,
+        // the myTCXO-> methods are never called...
+        myTCXO = new GNSSDO_TCXO();
+        systemPrintln("Illegal TCXO i2cBus! TCXO / OCXO not found?");
+        strncpy(oscillatorType, "NONE", sizeof(oscillatorType));
+        return;
+    }
+    
     // In order of priority: use STP3593LF or SiT5811 if present
     if (presentSTP3593LF)
     {
@@ -578,6 +585,10 @@ void beginTCXO(TwoWire *i2cBus)
     else
     {
         // No TCXO present!
+        // There is some redundancy here. If online.tcxo is never set true,
+        // the myTCXO-> methods are never called...
+        myTCXO = new GNSSDO_TCXO();
+        systemPrintln("TCXO / OCXO not found!");
         strncpy(oscillatorType, "NONE", sizeof(oscillatorType));
         return;
     }
@@ -622,6 +633,7 @@ int64_t getFrequencyControlWord()
 void updateTCXOClockBias()
 {
     tcxoClockBias_ms = gnssClockBias_ms; // Default to the PVTGeodetic RxClkBias
+    tcxoClockDrift_ppm = gnssClockDrift_ppm;
     snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), "PVT");
 
     if (settings.preferNonCompositeGPSBias || settings.preferNonCompositeGalileoBias) // These are mutex
@@ -630,6 +642,7 @@ void updateTCXOClockBias()
         if (fugroTimeSystems[index].updated) // If we have the preferred non-composite bias, use that
         {
             tcxoClockBias_ms = fugroTimeSystems[index].RxClkBias_ms;
+            tcxoClockDrift_ppm = fugroTimeSystems[index].RxClkDrift_ppm;
             fugroTimeSystems[index].updated = false;
             snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), fugroTimeSystems[index].name);
         }

Firmware/GNSSDO_Firmware/GNSS.ino

@@ -180,7 +180,7 @@ bool initializeGNSS()
 
     // Restore default configuration
     // Note: the IP settings set by the setIPSettings and setIPPortSettings commands keep their value
-    while (!sendWithResponse("eccf, RxDefault, Current\n\r", "CopyConfigFile") && (retries > 0))
+    while (!sendWithResponse("eccf, RxDefault, Current\n\r", "CopyConfigFile", 5000) && (retries > 0))
     {
         systemPrintln("No response from mosaic. Retrying - with escape sequence...");
         sendWithResponse("SSSSSSSSSSSSSSSSSSSS\n\r", "COM4>"); // Send escape sequence
@@ -237,7 +237,7 @@ bool initializeGNSS()
     }
 
     // Copy current configuration into boot
-    if (!sendWithResponse("eccf, Current, Boot\n\r", "CopyConfigFile"))
+    if (!sendWithResponse("eccf, Current, Boot\n\r", "CopyConfigFile", 5000))
     {
         systemPrintln("GNSS FAIL (CopyConfigFile)");
         return false;

Firmware/GNSSDO_Firmware/GNSSDO_Firmware.ino

@@ -140,6 +140,7 @@ float gnssAltitude_m = 0.0;
 uint8_t gnssTimeSys = 255; // Unknown
 uint8_t gnssError = 255; // Unknown
 double gnssClockBias_ms = 0.0;
+float gnssClockDrift_ppm = 0.0;
 
 // IPStatus 4058
 uint8_t ethernetMACAddress[6] = { 0,0,0,0,0,0 }; // Display this address in the system menu

Firmware/GNSSDO_Firmware/GNSSDO_TCXO.ino

@@ -0,0 +1,35 @@
+// Class to contain all possible oscillators
+
+// Begin the oscillator
+bool GNSSDO_TCXO::begin(TwoWire &wirePort, const uint8_t &address)
+{
+    return true;
+}
+
+// Get the frequency control word
+int64_t GNSSDO_TCXO::getFrequencyControlWord(void)
+{
+    return settings.tcxoControl;
+}
+
+// Set the frequency by bias millis
+bool GNSSDO_TCXO::setFrequencyByBiasMillis(double bias, double Pk, double Ik)
+{
+    return true;
+}
+
+// Save the frequency control word - if supported
+bool GNSSDO_TCXO::saveFrequencyControlValue(void)
+{
+    return true;
+}
+
+// Get the default P and I terms - for the default settings
+double GNSSDO_TCXO::getDefaultFrequencyByBiasPTerm(void)
+{
+    return settings.Pk;
+}
+double GNSSDO_TCXO::getDefaultFrequencyByBiasITerm(void)
+{
+    return settings.Ik;
+}

Firmware/GNSSDO_Firmware/Tasks.ino

@@ -628,6 +628,11 @@ void processConsumerMessage(PARSE_STATE *parse, uint8_t type)
                 uint64_t unsigned64;
             } dblUnsigned64;
 
+            union {
+                float flt;
+                uint32_t unsigned32;
+            } fltUnsigned32;
+
             dblUnsigned64.unsigned64 = 0;
             for (int i = 0; i < 8; i++)
                 dblUnsigned64.unsigned64 |= ((uint64_t)parse->buffer[16 + i]) << (i * 8);
@@ -658,6 +663,15 @@ void processConsumerMessage(PARSE_STATE *parse, uint8_t type)
             if (gnssClockBias_ms > 999.999)
                 gnssClockBias_ms = 999.999;
 
+            fltUnsigned32.unsigned32 = 0;
+            for (int i = 0; i < 4; i++)
+                fltUnsigned32.unsigned32 |= ((uint32_t)parse->buffer[68 + i]) << (i * 8);
+            gnssClockDrift_ppm = fltUnsigned32.flt;
+            if (gnssClockDrift_ppm < -999999.999)
+                gnssClockDrift_ppm = -999999.999;
+            if (gnssClockDrift_ppm > 999999.999)
+                gnssClockDrift_ppm = 999999.999;
+
             gnssTimeSys = parse->buffer[72];
         }
         else if ((parse->message & 0x1FFF) == 4058) // IPStatus
@@ -686,21 +700,35 @@ void processConsumerMessage(PARSE_STATE *parse, uint8_t type)
                 uint8_t SysUsage = parse->buffer[20 + (b * SBLength) + 0];
                 uint8_t TimeSystem = parse->buffer[20 + (b * SBLength) + 2];
 
+                // Convert uint64_t to double
                 union {
                     double dbl;
                     uint64_t unsigned64;
                 } dblUnsigned64;
 
+                // Extract RxClkBias_ms
                 dblUnsigned64.unsigned64 = 0;
                 for (int i = 0; i < 8; i++)
                     dblUnsigned64.unsigned64 |= ((uint64_t)parse->buffer[20 + (b * SBLength) + 4 + i]) << (i * 8);
 
+                // Convert uint32_t to float
+                union {
+                    float flt;
+                    uint32_t unsigned32;
+                } fltUnsigned32;
+
+                // Extract RxClkDrift_ppm
+                fltUnsigned32.unsigned32 = 0;
+                for (int i = 0; i < 4; i++)
+                    fltUnsigned32.unsigned32 |= ((uint32_t)parse->buffer[20 + (b * SBLength) + 12 + i]) << (i * 8);
+    
                 // If this block contains a non-composite clock indicator, store it
                 for (int TS = 0; TS < NUM_FUGRO_CLK_BIASES; TS++)
                 {
                     if (fugroTimeSystems[TS].SysUsage == SysUsage)
                     {
                         fugroTimeSystems[TS].RxClkBias_ms = dblUnsigned64.dbl;
+                        fugroTimeSystems[TS].RxClkDrift_ppm = fltUnsigned32.flt;
                         fugroTimeSystems[TS].updated = true;
                         break;
                     }
@@ -718,7 +746,7 @@ void ButtonCheckTask(void *e)
 
     while (true)
     {
-        if (productVariant == RTK_MOSAIC_T)
+        if (productVariant == GNSSDO || productVariant == GNSSDO_PLUS)
         {
             if (setupBtn &&
                 (settings.disableSetupButton == false)) // Allow check of the setup button if not overridden by settings

Firmware/GNSSDO_Firmware/menuSystem.ino

@@ -584,7 +584,7 @@ void printCurrentConditions(bool CSV)
         {
             if (firstTime)
             {
-                systemPrintln("YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Source,TCXO,Pk,Ik");
+                systemPrintln("YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Drift,Source,TCXO,Pk,Ik");
                 firstTime = false;
             }
 
@@ -620,6 +620,8 @@ void printCurrentConditions(bool CSV)
 
             systemPrintf(",%.3e", tcxoClockBias_ms / 1000.0); // Display clock bias in seconds
 
+            systemPrintf(",%.3e", tcxoClockDrift_ppm / 1000000.0); // Display clock drift in parts
+
             systemPrint(",");
             systemPrint((const char *)rxClkBiasSource),
 
@@ -669,6 +671,8 @@ void printCurrentConditions(bool CSV)
                 systemPrintf(", Bias: %.3fns",
                     (float)(tcxoClockBias_ms * 1000000.0));
 
+            systemPrintf(", Drift: %.3e", tcxoClockDrift_ppm / 1000000.0);
+
             systemPrint(", Source: ");
             systemPrint((const char *)rxClkBiasSource),
 

Firmware/GNSSDO_Firmware/settings.h

@@ -23,28 +23,32 @@ bool newSystemStateRequested = false;
 
 typedef enum
 {
-    RTK_MOSAIC_T = 0,
+    GNSSDO = 0,
+    GNSSDO_PLUS,
     // Add new values just above this line
-    RTK_UNKNOWN,
+    GNSSDO_UNKNOWN,
 } ProductVariant;
-ProductVariant productVariant = RTK_UNKNOWN;
+ProductVariant productVariant = GNSSDO_UNKNOWN;
 
 const char *const productDisplayNames[] = {
     "GNSSDO",
+    "GNSSDO+",
     // Add new values just above this line
     "Unknown",
 };
 const int productDisplayNamesEntries = sizeof(productDisplayNames) / sizeof(productDisplayNames[0]);
 
 const char *const platformFilePrefixTable[] = {
     "SFE_GNSSDO",
+    "SFE_GNSSDO_PLUS",
     // Add new values just above this line
     "SFE_Unknown",
 };
 const int platformFilePrefixTableEntries = sizeof(platformFilePrefixTable) / sizeof(platformFilePrefixTable[0]);
 
 const char *const platformPrefixTable[] = {
     "GNSSDO",
+    "GNSSDO_PLUS",
     // Add new values just above this line
     "Unknown",
 };
@@ -80,6 +84,7 @@ typedef struct {
     const uint8_t SysUsage;
     const char name[8];
     double RxClkBias_ms;
+    float RxClkDrift_ppm;
     bool updated;
 } fugroTimeSystem;
 
@@ -127,6 +132,7 @@ uint8_t mosaicTimeSystemIndexFromName(const char *name)
     return 0; // This should never happen
 }
 double tcxoClockBias_ms; // Updated by updateTCXOClockBias
+float tcxoClockDrift_ppm;
 char rxClkBiasSource[8];
 
 const char *const mosaicPVTErrorTable[] = {

Firmware/GNSSDO_Firmware/support.ino

@@ -689,11 +689,11 @@ bool findSpiffsPartition(void)
 void verifyTables()
 {
     // Verify the product name table
-    if (productDisplayNamesEntries != (RTK_UNKNOWN + 1))
+    if (productDisplayNamesEntries != (GNSSDO_UNKNOWN + 1))
         reportFatalError("Fix productDisplayNames to match ProductVariant");
-    if (platformFilePrefixTableEntries != (RTK_UNKNOWN + 1))
+    if (platformFilePrefixTableEntries != (GNSSDO_UNKNOWN + 1))
         reportFatalError("Fix platformFilePrefixTable to match ProductVariant");
-    if (platformPrefixTableEntries != (RTK_UNKNOWN + 1))
+    if (platformPrefixTableEntries != (GNSSDO_UNKNOWN + 1))
         reportFatalError("Fix platformPrefixTable to match ProductVariant");
 
     tasksValidateTables();