WIP

Author: PaulZC

Firmware/RTK_Everywhere/Begin.ino

@@ -334,6 +334,7 @@ void beginBoard()
         gnss = (GNSS *)new GNSS_ZED();
 #else  // COMPILE_ZED
         gnss = (GNSS *)new GNSS_None();
+        systemPrintln("<<<<<<<<<< !!!!!!!!!! ZED NOT COMPILED !!!!!!!!!! >>>>>>>>>>");
 #endif // COMPILE_ZED
 
         present.brand = BRAND_SPARKFUN;
@@ -464,6 +465,7 @@ void beginBoard()
         gnss = (GNSS *)new GNSS_ZED();
 #else  // COMPILE_ZED
         gnss = (GNSS *)new GNSS_None();
+        systemPrintln("<<<<<<<<<< !!!!!!!!!! ZED NOT COMPILED !!!!!!!!!! >>>>>>>>>>");
 #endif // COMPILE_ZED
 
         present.brand = BRAND_SPARKPNT;
@@ -546,6 +548,7 @@ void beginBoard()
         gnss = (GNSS *)new GNSS_ZED();
 #else  // COMPILE_ZED
         gnss = (GNSS *)new GNSS_None();
+        systemPrintln("<<<<<<<<<< !!!!!!!!!! ZED NOT COMPILED !!!!!!!!!! >>>>>>>>>>");
 #endif // COMPILE_ZED
 
         present.brand = BRAND_SPARKPNT;
@@ -635,6 +638,8 @@ void beginBoard()
         // mosaic COM3 is connected to the Data connector - via the multiplexer
         // mosaic COM3 is available as a generic COM port. The firmware configures the baud. Nothing else.
 
+        // NOTE: Facet Flex with mosaic-X5 is VERY different!
+
         // Specify the GNSS radio
 #ifdef COMPILE_MOSAICX5
         gnss = (GNSS *)new GNSS_MOSAIC();
@@ -1166,6 +1171,11 @@ void pinGnssUartTask(void *pvParameters)
             // LG290P communicates at 460800bps.
             platformGnssCommunicationRate = 115200 * 4;
         }
+        else if (settings.detectedGnssReceiver == GNSS_RECEIVER_MOSAIC_X5)
+        {
+            // Mosaic defaults to 115200, but mosaicIsPresentOnFlex() increases to 460800bps
+            platformGnssCommunicationRate = 115200 * 4;
+        }
         else
         {
             // If we don't know the GNSS receiver, default to 115200

Firmware/RTK_Everywhere/GNSS.ino

@@ -141,26 +141,21 @@ void gnssDetectReceiverType()
 #endif // COMPILE_LGP290P
 
 #ifdef COMPILE_MOSAICX5
-        // TODO - this uses UART2, but Flex is UART1. We need to make the mosaic send routines flexible to use
-        // whichever UART we specify.
-        // else if (mosaicIsPresent() == true)
-        // {
-        //     systemPrintln("Auto-detected GNSS receiver: mosaic-X5");
-
-        //     present.gnss_mosaicX5 = true;
-        //     present.minCno = true;
-        //     present.minElevation = true;
-        //     present.dynamicModel = true;
-        //     present.needsExternalPpl = true; // Uses the PointPerfect Library
-
-        //     settings.detectedGnssReceiver = GNSS_RECEIVER_MOSAIC_X5;
-        //     recordSystemSettings(); // Record the detected GNSS receiver and avoid this test in the future
-        // }
-#else  // COMPILE_MOSAICX5
-        else
+        if (mosaicIsPresentOnFlex() == true)
         {
-            systemPrintln("<<<<<<<<<< !!!!!!!!!! MOSAICX5 NOT COMPILED !!!!!!!!!! >>>>>>>>>>");
+            systemPrintln("Auto-detected GNSS receiver: mosaic-X5");
+
+            present.gnss_mosaicX5 = true;
+            present.minCno = true;
+            present.minElevation = true;
+            present.dynamicModel = true;
+            present.needsExternalPpl = true; // Uses the PointPerfect Library
+
+            settings.detectedGnssReceiver = GNSS_RECEIVER_MOSAIC_X5;
+            recordSystemSettings(); // Record the detected GNSS receiver and avoid this test in the future
         }
+#else  // COMPILE_MOSAICX5
+            systemPrintln("<<<<<<<<<< !!!!!!!!!! MOSAICX5 NOT COMPILED !!!!!!!!!! >>>>>>>>>>");
 #endif // COMPILE_MOSAICX5
     }
 
@@ -169,14 +164,12 @@ void gnssDetectReceiverType()
     {
 #ifdef COMPILE_LG290P
         gnss = (GNSS *)new GNSS_LG290P();
-        present.gnss_lg290p = true;
 #endif // COMPILE_LGP290P
     }
     else if (settings.detectedGnssReceiver == GNSS_RECEIVER_MOSAIC_X5)
     {
 #ifdef COMPILE_MOSAICX5
         gnss = (GNSS *)new GNSS_MOSAIC();
-        present.gnss_mosaicX5 = true;
 #endif // COMPILE_MOSAICX5
     }
 

Firmware/RTK_Everywhere/GNSS_Mosaic.h

@@ -860,6 +860,8 @@ class GNSS_MOSAIC : GNSS
 
     // Send commands out the UART to see if a mosaic module is present
     bool isPresent();
+    bool isPresentOnSerial(HardwareSerial *serialPort, const char *command, const char *response, const char *console);
+    bool mosaicIsPresentOnFlex();
 
     // Some functions (L-Band area frequency determination) merely need
     // to know if we have an RTK Fix.  This function checks to see if the
@@ -943,6 +945,14 @@ class GNSS_MOSAIC : GNSS
                             char *response = nullptr,
                             size_t responseSize = 0,
                             bool debug = true);
+    bool sendAndWaitForIdle(HardwareSerial *serialPort,
+                            const char *message,
+                            const char *reply,
+                            unsigned long timeout = 1000,
+                            unsigned long idle = 25,
+                            char *response = nullptr,
+                            size_t responseSize = 0,
+                            bool debug = true);
 
     // Send message. Wait for up to timeout millis for reply to arrive
     // If the reply is received, keep reading bytes until the serial port has
@@ -985,6 +995,13 @@ class GNSS_MOSAIC : GNSS
                           unsigned long wait = 25,
                           char *response = nullptr,
                           size_t responseSize = 0);
+    bool sendWithResponse(HardwareSerial *serialPort,
+                          const char *message,
+                          const char *reply,
+                          unsigned long timeout = 1000,
+                          unsigned long wait = 25,
+                          char *response = nullptr,
+                          size_t responseSize = 0);
 
     // Send message. Wait for up to timeout millis for reply to arrive
     // If the reply has started to be received when timeout is reached, wait for a further wait millis
@@ -1013,7 +1030,8 @@ class GNSS_MOSAIC : GNSS
     //   baudRate: New baud rate for the COM port
     // Outputs:
     //   Returns true if the baud rate was set and false upon failure
-    bool setBaudRateCOM(uint8_t port, uint32_t baudRate);
+    bool setBaudRate(uint8_t uartNumber, uint32_t baudRate); // From the super class
+    bool setBaudRateCOM(uint8_t port, uint32_t baudRate);    // Original X5 implementation
 
     // Enable all the valid constellations and bands for this platform
     bool setConstellations();
@@ -1094,7 +1112,7 @@ class GNSS_MOSAIC : GNSS
 
     void updateSD();
 
-    void waitSBFReceiverSetup(unsigned long timeout);
+    void waitSBFReceiverSetup(HardwareSerial *serialPort, unsigned long timeout);
 };
 
 #endif  // __GNSS_MOSAIC_H__