Merge pull request #647 from sparkfun/LG290P_AddElevation

Add elevation and CNR control for LG290P

Author: nseidle

.github/workflows/compile-rtk-everywhere.yml

@@ -94,7 +94,7 @@ jobs:
           "SparkFun u-blox PointPerfect Library"@1.11.4
           "SparkFun IM19 IMU Arduino Library"@1.0.1
           "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.4
-          "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.2
+          "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.6
           "SparkFun I2C Expander Arduino Library"@1.0.1
 
       - name: Patch libmbedtls

Firmware/RTK_Everywhere/Begin.ino

@@ -702,6 +702,10 @@ void beginBoard()
         present.gpioExpander = true;
         present.microSdCardDetectGpioExpanderHigh = true; // CD is on GPIO 5 of expander. High = SD in place.
 
+        //We can't enable here because we don't know if lg290pFirmwareVersion is >= v05
+        //present.minElevation = true;
+        //present.minCno = true;
+        
         pin_I2C0_SDA = 7;
         pin_I2C0_SCL = 20;
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -122,6 +122,22 @@ void GNSS_LG290P::begin()
             "firmware on your LG290P to allow for these features. Please see https://bit.ly/sfe-rtk-lg290p-update\r\n",
             lg290pFirmwareVersion, gnssFirmwareVersion);
     }
+    if (lg290pFirmwareVersion < 5)
+    {
+        systemPrintf(
+            "Current LG290P firmware: v%d (full form: %s). Elevation and CNR mask configuration require v5 or newer. "
+            "Please "
+            "update the "
+            "firmware on your LG290P to allow for these features. Please see https://bit.ly/sfe-rtk-lg290p-update\r\n",
+            lg290pFirmwareVersion, gnssFirmwareVersion);
+    }
+
+    if (lg290pFirmwareVersion >= 5)
+    {
+        // Supported starting in v05
+        present.minElevation = true;
+        present.minCno = true;
+    }
 
     printModuleInfo();
 
@@ -323,6 +339,10 @@ bool GNSS_LG290P::configureRover()
             systemPrintln("configureRover: Set mode rover failed");
     }
 
+    response &= setElevation(settings.minElev);
+
+    response &= setMinCnoRadio(settings.minCNO);
+
     // Set the fix rate. Default on LG290P is 10Hz so set accordingly.
     response &= setRate(settings.measurementRateMs / 1000.0); // May require save/reset
     if (settings.debugGnss && response == false)
@@ -432,6 +452,10 @@ bool GNSS_LG290P::configureBase()
             systemPrintln("configureBase: disable survey in failed");
     }
 
+    response &= setElevation(settings.minElev);
+
+    response &= setMinCnoRadio(settings.minCNO);
+
     response &= enableRTCMBase(); // Set RTCM messages
     if (settings.debugGnss && response == false)
         systemPrintln("configureBase: Enable RTCM failed");
@@ -514,7 +538,8 @@ bool GNSS_LG290P::enterConfigMode(unsigned long waitForSemaphoreTimeout_millis)
     {
         unsigned long start = millis();
         bool isBlocking;
-        do { // Wait for up to waitForSemaphoreTimeout for library to stop blocking
+        do
+        { // Wait for up to waitForSemaphoreTimeout for library to stop blocking
             isBlocking = _lg290p->isBlocking();
         } while (isBlocking && (millis() < (start + waitForSemaphoreTimeout_millis)));
 
@@ -1837,7 +1862,8 @@ void GNSS_LG290P::printModuleInfo()
         std::string version, buildDate, buildTime;
         if (_lg290p->getVersionInfo(version, buildDate, buildTime))
         {
-            systemPrintf("LG290P version: v%02d - %s %s %s - v%d\r\n", lg290pFirmwareVersion, version.c_str(), buildDate.c_str(), buildTime.c_str());
+            systemPrintf("LG290P version: v%02d - %s %s %s - v%d\r\n", lg290pFirmwareVersion, version.c_str(),
+                         buildDate.c_str(), buildTime.c_str());
         }
         else
         {
@@ -1975,8 +2001,12 @@ bool GNSS_LG290P::setCorrRadioExtPort(bool enable, bool force)
 //----------------------------------------
 bool GNSS_LG290P::setElevation(uint8_t elevationDegrees)
 {
-    // Not a feature on LG290p
-    return false;
+    // Present on >= v05
+    if (lg290pFirmwareVersion >= 5)
+        return(_lg290p->setElevationAngle(elevationDegrees));
+
+    // Because we call this during module setup we rely on a positive result
+    return true;
 }
 
 //----------------------------------------
@@ -2005,8 +2035,12 @@ bool GNSS_LG290P::setMessagesUsb(int maxRetries)
 //----------------------------------------
 bool GNSS_LG290P::setMinCnoRadio(uint8_t cnoValue)
 {
-    // Not a feature on LG290p
-    return false;
+    // Present on >= v05
+    if (lg290pFirmwareVersion >= 5)
+        return(_lg290p->setCNR((float)cnoValue)); // 0.0 to 99.0
+
+    // Because we call this during module setup we rely on a positive result
+    return true;
 }
 
 //----------------------------------------

Firmware/RTK_Everywhere/settings.h

@@ -1775,8 +1775,8 @@ struct struct_present
     float antennaPhaseCenter_mm = 0.0; // Used to setup tilt compensation
     bool galileoHasCapable = false; // UM980 has HAS capabilities
     bool multipathMitigation = false; // UM980 has MPM, other platforms do not
-    bool minCno = false; // ZED, mosaic, UM980 have minCN0. LG290P does not.
-    bool minElevation = false; // ZED, mosaic, UM980 have minElevation. LG290P does not.
+    bool minCno = false; // ZED, mosaic, UM980 have minCN0. LG290P does on version >= v5.
+    bool minElevation = false; // ZED, mosaic, UM980 have minElevation. LG290P does on versions >= v5.
     bool dynamicModel = false; // ZED, mosaic, UM980 have dynamic models. LG290P does not.
 } present;