Merge pull request #331 from LeeLeahy2/rtcm-corrections

Enable input of RTCM correction data over USB serial

Author: nseidle

Firmware/RTK_Everywhere/Display.ino

@@ -792,6 +792,16 @@ void setRadioIcons(std::vector<iconPropertyBlinking> *iconList)
                 }
             }
 
+            if (usbSerialIncomingRtcm)
+            {
+                // Download : Columns 59 - 66
+                iconPropertyBlinking prop;
+                prop.icon = DownloadArrow128x64;
+                prop.duty = 0b11111111;
+                iconList->push_back(prop);
+                usbSerialIncomingRtcm = false;
+            }
+
             if (wifiState == WIFI_STATE_CONNECTED)
             {
                 if (netIncomingRTCM == true) // Download : Columns 59 - 66

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -392,6 +392,9 @@ const byte haeNumberOfDecimals = 8;   // Used for printing and transmitting lat/
 bool lBandForceGetKeys;               // Used to allow key update from display
 unsigned long rtcmLastPacketReceived; // Time stamp of RTCM coming in (from BT, NTRIP, etc)
 // Monitors the last time we received RTCM. Proctors PMP vs RTCM prioritization.
+
+bool usbSerialIncomingRtcm;            // Incoming RTCM over the USB serial port
+#define RTCM_CORRECTION_INPUT_TIMEOUT   (2 * 1000)
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 // GNSS configuration - UM980

Firmware/RTK_Everywhere/menuMain.ino

@@ -2,7 +2,11 @@
 // Report status if ~ received, otherwise present config menu
 void terminalUpdate()
 {
+    char buffer[128];
     static uint32_t lastPeriodicDisplay;
+    int length;
+    static bool passRtcmToGnss;
+    static uint32_t rtcmTimer;
 
     // Determine which items are periodically displayed
     if ((millis() - lastPeriodicDisplay) >= settings.periodicDisplayInterval)
@@ -16,45 +20,85 @@ void terminalUpdate()
     {
         byte incoming = systemRead();
 
-        if (incoming == '~')
+        // Is this the start of an RTCM correction message
+        if (incoming == 0xd3)
         {
-            // Output custom GNTXT message with all current system data
-            printCurrentConditionsNMEA();
+            // Enable RTCM reception
+            passRtcmToGnss = true;
+
+            // Start the RTCM timer
+            rtcmTimer = millis();
+            rtcmLastPacketReceived = rtcmTimer;
+
+            // Tell the display about the serial RTCM message
+            usbSerialIncomingRtcm = true;
+
+            // Read the beginning of the RTCM correction message
+            buffer[0] = incoming;
+            length = Serial.readBytes(&buffer[1], sizeof(buffer) - 1) + 1;
+
+            // Push RTCM to GNSS module over I2C / SPI
+            gnssPushRawData((uint8_t *)buffer, length);
         }
-        else
+
+        // Does incoming data consist of RTCM correction messages
+        if (passRtcmToGnss && ((millis() - rtcmTimer) < RTCM_CORRECTION_INPUT_TIMEOUT))
         {
-            // When outputting GNSS data to USB serial, check for +++
-            if (forwardGnssDataToUsbSerial)
-            {
-                static uint32_t plusTimeout;
-                static uint8_t plusCount;
+            // Renew the RTCM timer
+            rtcmTimer = millis();
+            rtcmLastPacketReceived = rtcmTimer;
 
-                // Reset plusCount on timeout
-                if ((millis() - plusTimeout) > PLUS_PLUS_PLUS_TIMEOUT)
-                    plusCount = 0;
+            // Tell the display about the serial RTCM message
+            usbSerialIncomingRtcm = true;
 
-                // Check for + input
-                if (incoming != '+')
-                {
-                    // Must start over looking for +++
-                    plusCount = 0;
-                    return;
-                }
+            // Read more of the RTCM correction message
+            buffer[0] = incoming;
+            length = Serial.readBytes(&buffer[1], sizeof(buffer) - 1) + 1;
+
+            // Push RTCM to GNSS module over I2C / SPI
+            gnssPushRawData((uint8_t *)buffer, length);
+        }
+        else
+        {
+            // Allow regular serial input
+            passRtcmToGnss = false;
+
+            if (incoming == '~')
+            {
+                // Output custom GNTXT message with all current system data
+                printCurrentConditionsNMEA();
+            }
+            else
+            {
+                // When outputting GNSS data to USB serial, check for +++
+                if (!forwardGnssDataToUsbSerial)
+                    menuMain(); // Present user menu
                 else
                 {
-                    // + entered, check for the +++ sequence
-                    plusCount++;
-                    if (plusCount < 3)
+                    static uint32_t plusTimeout;
+                    static uint8_t plusCount;
+
+                    // Reset plusCount on timeout
+                    if ((millis() - plusTimeout) > PLUS_PLUS_PLUS_TIMEOUT)
+                        plusCount = 0;
+
+                    // Check for + input
+                    if (incoming != '+')
+                        // Must start over looking for +++
+                        plusCount = 0;
+                    else
                     {
-                        // Restart the timeout
-                        plusTimeout = millis();
-                        return;
+                        // + entered, check for the +++ sequence
+                        plusCount++;
+                        if (plusCount < 3)
+                            // Restart the timeout
+                            plusTimeout = millis();
+                        else
+                            // +++ was entered, display the main menu
+                            menuMain(); // Present user menu
                     }
-
-                    // +++ was entered, display the main menu
                 }
             }
-            menuMain(); // Present user menu
         }
     }
 }