Add support for console-over-TCP

Author: PaulZC

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

@@ -6,7 +6,7 @@ on:
 env:
   FILENAME_PREFIX: RTK_mosaic-T_Firmware
   FIRMWARE_VERSION_MAJOR: 1
-  FIRMWARE_VERSION_MINOR: 0
+  FIRMWARE_VERSION_MINOR: 1
   CORE_VERSION: 3.0.1
 
 jobs:

Firmware/RTK_mosaic-T_Firmware/Begin.ino

@@ -110,6 +110,8 @@ void beginBoard()
         pin_errorLED = 32;
         pin_lockLED = 33;
 
+        pin_serial0TX_Alt = 23;
+        pin_serial0RX_Alt = 34;
         pin_serial1TX = 14;
         pin_serial1RX = 13;
         pin_serial1CTS = 26;
@@ -174,6 +176,30 @@ void beginBoard()
     }
 }
 
+void beginConsole(bool allowAlt)
+{
+    if ((!allowAlt) || (!settings.enableTCPServer))
+    {
+        serialConsole.begin(115200, SERIAL_8N1, pin_serial0RX, pin_serial0TX);
+    }
+    else
+    {
+        if ((pin_serial0RX_Alt < 0) || (pin_serial0TX_Alt < 0))
+        {
+            reportFatalError("No Serial0 Alt pins");
+        }
+        else
+        {
+            serialConsole.begin(115200, SERIAL_8N1, pin_serial0RX_Alt, pin_serial0TX_Alt);
+        }
+    }
+
+    delay(10);
+
+    while (serialConsole.available())
+        serialConsole.read();
+}
+
 // We want the UART1 interrupts to be pinned to core 0 to avoid competing with I2C interrupts
 // We do not start the UART1 here because the interrupts would be pinned to core 1
 // We instead start a task that runs on core 0, that then begins serial

Firmware/RTK_mosaic-T_Firmware/GNSS.ino

@@ -189,6 +189,13 @@ bool initializeGNSS()
         return false;
     }
 
+    // Configure COM3 for daisy chain to IPS1
+    if (!sendWithResponse("sdio, COM3, DC1, DC2\n\r", "DataInOut"))
+    {
+        systemPrintln("GNSS FAIL (DataInOut COM3)");
+        return false;
+    }
+
     if (!sendWithResponse("sso, Stream1, COM1, Group1, sec1\n\r", "SBFOutput"))
     {
         systemPrintln("GNSS FAIL (SBFOutput Stream1)");
@@ -218,7 +225,7 @@ bool configureGNSSPPS()
 
     systemPrintln("Configuring GNSS PPS");
 
-    String ppsParams = String("setPPSParameters, ");
+    String ppsParams = String("spps, ");
     ppsParams += String(mosaicPPSParametersInterval[settings.ppsInterval]) + String(", ");
     ppsParams += String(mosaicPPSParametersPolarity[settings.ppsPolarity]) + String(", ");
     ppsParams += String(settings.ppsDelay_ns) + String(", ");
@@ -246,3 +253,57 @@ bool configureGNSSPPS()
     return true;
 }
 
+bool configureGNSSTCPServer()
+{
+    if (!online.gnss)
+        return false;
+
+    systemPrintln("Configuring GNSS TCP Server");
+
+    String tcpParams = String("siss, IPS1, ");
+
+    if (settings.enableTCPServer)
+    {      
+      tcpParams += String(settings.tcpServerPort) + String(", TCP2Way\n\r");
+    }
+    else
+    {
+      tcpParams += String("0\n\r");
+    }
+
+    int retries = 3;
+
+    while (!sendWithResponse(tcpParams, "IPServerSettings") && (retries > 0))
+    {
+        systemPrintln("No response from mosaic. Retrying - with escape sequence...");
+        sendWithResponse("SSSSSSSSSSSSSSSSSSSS\n\r", "COM4>"); // Send escape sequence
+        retries--;
+    }
+
+    if (retries == 0)
+    {
+        systemPrintln("GNSS FAIL (IPServerSettings)");
+        return false;
+    }
+
+    // Configure IPS1
+    if (settings.enableTCPServer)
+    {      
+      if (!sendWithResponse("sdio, IPS1, DC2, DC1\n\r", "DataInOut"))
+      {
+          systemPrintln("GNSS FAIL (DataInOut IPS1)");
+          return false;
+      }
+    }
+    else
+    {
+      if (!sendWithResponse("sdio, IPS1, none, none\n\r", "DataInOut"))
+      {
+          systemPrintln("GNSS FAIL (DataInOut IPS1)");
+          return false;
+      }
+    }
+
+    systemPrintln("GNSS TCP Server configured");
+    return true;
+}

Firmware/RTK_mosaic-T_Firmware/NVM.ino

@@ -98,6 +98,9 @@ void recordSystemSettingsToFile(File *settingsFile)
     settingsFile->printf("%s=%0.3e\r\n", "Ik", settings.Ik);
     settingsFile->printf("%s=%d\r\n", "preferNonCompositeGPSBias", settings.preferNonCompositeGPSBias);
     settingsFile->printf("%s=%d\r\n", "preferNonCompositeGalileoBias", settings.preferNonCompositeGalileoBias);
+    settingsFile->printf("%s=%d\r\n", "enableTCPServer", settings.enableTCPServer);
+    settingsFile->printf("%s=%d\r\n", "tcpServerPort", settings.tcpServerPort);
+    
 
     //settingsFile->printf("%s=%d\r\n", "", settings.);
 
@@ -366,6 +369,10 @@ bool parseLine(char *str, Settings *settings)
         settings->preferNonCompositeGPSBias = d;
     else if (strcmp(settingName, "preferNonCompositeGalileoBias") == 0)
         settings->preferNonCompositeGalileoBias = d;
+    else if (strcmp(settingName, "enableTCPServer") == 0)
+        settings->enableTCPServer = d;
+    else if (strcmp(settingName, "tcpServerPort") == 0)
+        settings->tcpServerPort = d;
 
     //else if (strcmp(settingName, "") == 0)
     //    settings-> = d;

Firmware/RTK_mosaic-T_Firmware/RTK_mosaic-T_Firmware.ino

@@ -49,6 +49,12 @@
 int pin_errorLED = -1;
 int pin_lockLED = -1;
 
+const int pin_serial0TX = 1;
+const int pin_serial0RX = 3;
+
+int pin_serial0TX_Alt = -1;
+int pin_serial0RX_Alt = -1;
+
 int pin_serial1TX = -1;
 int pin_serial1RX = -1;
 int pin_serial1CTS = -1;
@@ -142,6 +148,7 @@ GPS_PARSE_TABLE;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 #include <driver/uart.h>      // Required for uart_set_rx_full_threshold() on cores <v2.0.5
+HardwareSerial serialConsole(0); // Use UART0 for Console
 HardwareSerial serialGNSS(1); // Use UART1 for GNSS
 HardwareSerial serialGNSSConfig(2); // Use UART2 for GNSS configuration
 
@@ -311,7 +318,7 @@ void setup()
 {
     initializeGlobals(); // Initialize any global variables that can't be given default values
 
-    Serial.begin(115200); // UART0 for programming and debugging
+    beginConsole(false); // UART0 for programming and debugging. Don't allow Alt pins to be used yet
     systemPrintln();
     systemPrintln();
 
@@ -370,9 +377,13 @@ void setup()
     DMW_c("beginGNSS");
     beginGNSS(); // Connect to GNSS
 
-    Serial.flush(); // Complete any previous prints
+    DMW_c("configureGNSSTCPServer");
+    configureGNSSTCPServer(); // Configure TCP
 
     systemPrintf("Boot time: %d\r\n", millis());
+
+    serialConsole.flush(); // Complete any previous prints
+    beginConsole(true); // Swap to Alt pins if TCP is enabled
 }
 
 void loop()

Firmware/RTK_mosaic-T_Firmware/menuMain.ino

@@ -91,6 +91,8 @@ void menuMain()
             printUnknown(incoming);
     }
 
+    configureGNSSTCPServer(); // Configure TCP
+
     recordSystemSettings(); // Once all menus have exited, record the new settings to LittleFS and config file
 
     clearBuffer();           // Empty buffer of any newline chars

Firmware/RTK_mosaic-T_Firmware/menuSystem.ino

@@ -398,6 +398,12 @@ void menuOperation()
         systemPrint("13) Pulse-Per-Second Pulse Width (ms): ");
         systemPrintln(settings.ppsPulseWidth_ms);
 
+        systemPrint("14) TCP Server (IPS1): ");
+        systemPrintf("%s\r\n", settings.enableTCPServer ? "Enabled" : "Disabled");
+
+        systemPrint("15) TCP Server Port: ");
+        systemPrintln(settings.tcpServerPort);
+
         systemPrintln("\r\nx) Exit");
 
         byte incoming = getCharacterNumber();
@@ -534,6 +540,25 @@ void menuOperation()
                 ppsStarted = false; // Restart PPS afterwards
             }
         }
+        else if (incoming == 14)
+        {
+            settings.enableTCPServer ^= 1;
+        }
+        else if (incoming == 15)
+        {
+            systemPrint("Enter the TCP Server Port: ");
+            int port = getNumber(); // Returns EXIT, TIMEOUT, or long
+            if ((port != INPUT_RESPONSE_GETNUMBER_EXIT) &&
+                (port != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
+            {
+                if (port < 1 || port > 65534)
+                    systemPrintln("Error: Port is out of range");
+                else
+                {
+                    settings.tcpServerPort = port;
+                }
+            }
+        }
         // Menu exit control
         else if (incoming == 'x')
             break;
@@ -563,12 +588,13 @@ void printCurrentConditions(bool CSV)
                 firstTime = false;
             }
 
-            systemPrintf("%04d/%02d/%02d,%02d:%02d:%02d",
-                gnssYear, gnssMonth, gnssDay, gnssHour, gnssMinute, gnssSecond);
-            
             uint32_t epochSecs;
             uint32_t epochMillis;
             convertGnssTimeToEpoch(&epochSecs, &epochMillis);
+
+            systemPrintf("%04d/%02d/%02d,%02d:%02d:%02d",
+                gnssYear, gnssMonth, gnssDay, gnssHour, gnssMinute, gnssSecond);
+            
             systemPrintf(",%lu.%03lu", epochSecs, epochMillis);
 
             systemPrint(",");

Firmware/RTK_mosaic-T_Firmware/settings.h

@@ -273,6 +273,8 @@ typedef struct
     double Ik = 0.151; // PI I term
     bool preferNonCompositeGPSBias = false; // Prefer non-composite GPS bias - if available. Mutex with preferNonCompositeGalileoBias
     bool preferNonCompositeGalileoBias = false; // Prefer non-composite Galileo bias - if available. Mutex with preferNonCompositeGPSBias
+    bool enableTCPServer = false; // Enable and configure mosaic-T IPS1 for TCP2way for the ESP32 console
+    uint16_t tcpServerPort = 28785;
 
     // Add new settings above <------------------------------------------------------------>
 

Firmware/RTK_mosaic-T_Firmware/support.ino

@@ -1,27 +1,25 @@
 // Helper functions to support printing to eiter the serial port or bluetooth connection
 
-// If we are printing to all endpoints, BT gets priority
 int systemAvailable()
 {
-    return (Serial.available());
+    return (serialConsole.available());
 }
 
-// If we are printing to all endpoints, BT gets priority
 int systemRead()
 {
-    return (Serial.read());
+    return (serialConsole.read());
 }
 
 // Output a buffer of the specified length to the serial port
 void systemWrite(const uint8_t *buffer, uint16_t length)
 {
-    Serial.write(buffer, length);
+    serialConsole.write(buffer, length);
 }
 
 // Ensure all serial output has been transmitted, FIFOs are empty
 void systemFlush()
 {
-    Serial.flush();
+    serialConsole.flush();
 }
 
 // Output a byte to the serial port
@@ -747,7 +745,7 @@ void formatFirmwareVersion(char prefix, uint8_t major, uint8_t minor, char *buff
   // The buffer is too small for the version number
   else
   {
-    Serial.printf("ERROR: Buffer too small for version number!\r\n");
+    serialConsole.printf("ERROR: Buffer too small for version number!\r\n");
     if (bufferLength > 0)
       *buffer = 0;
   }