More WIP. Signs of life...

Author: PaulZC

Firmware/RTK_Everywhere/GNSS_Mosaic.h

@@ -559,6 +559,8 @@ class GNSS_MOSAIC : GNSS
   // and add a private library class instance here.
 
   protected:
+    // Flag which indicates GNSS is blocking (needs exclusive access to the UART)
+    bool _isBlocking = false;
 
     // These globals are updated regularly via the SBF parser
     double _clkBias_ms; // PVTGeodetic RxClkBias (will be sawtooth unless clock steering is enabled)

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -310,13 +310,17 @@ void GNSS_MOSAIC::begin()
 
         _receiverSetupSeen = false;
 
+        _isBlocking = true;
+
         // Request the ReceiverSetup SBF block using a esoc (exeSBFOnce) command on COM1
         String request = "esoc,COM1,ReceiverSetup\n\r";
         serialGNSS->write(request.c_str(), request.length());
 
         // Wait for up to 5 seconds for the Receiver Setup
         waitSBFReceiverSetup(serialGNSS, 5000);
 
+        _isBlocking = false;
+
         if (_receiverSetupSeen) // Check 5902 ReceiverSetup was seen
         {
             systemPrintln("GNSS mosaic-X5 online");
@@ -1571,7 +1575,9 @@ bool GNSS_MOSAIC::isAntennaOpen()
 //----------------------------------------
 bool GNSS_MOSAIC::isBlocking()
 {
-    return false;
+    // Facet mosaic is non-blocking. It has exclusive access to COM4
+    // Facet Flex (mosaic) is blocking. Suspend the GNSS read task only if needed
+    return _isBlocking && (productVariant == RTK_FLEX);
 }
 
 //----------------------------------------
@@ -2092,6 +2098,8 @@ bool GNSS_MOSAIC::sendAndWaitForIdle(HardwareSerial *serialPort, const char *mes
     if (strlen(reply) == 0) // Reply can't be zero-length
         return false;
 
+    _isBlocking = true;
+
     if (debug && (settings.debugGnss == true) && (!inMainMenu))
         systemPrintf("sendAndWaitForIdle: sending %s\r\n", message);
 
@@ -2142,9 +2150,13 @@ bool GNSS_MOSAIC::sendAndWaitForIdle(HardwareSerial *serialPort, const char *mes
             }
         }
 
+        _isBlocking = false;
+
         return true;
     }
 
+    _isBlocking = false;
+
     return false;
 }
 
@@ -2199,6 +2211,8 @@ bool GNSS_MOSAIC::sendWithResponse(HardwareSerial *serialPort, const char *messa
     if (strlen(reply) == 0) // Reply can't be zero-length
         return false;
 
+    _isBlocking = true;
+
     if ((settings.debugGnss == true) && (!inMainMenu))
         systemPrintf("sendWithResponse: sending %s\r\n", message);
 
@@ -2257,9 +2271,13 @@ bool GNSS_MOSAIC::sendWithResponse(HardwareSerial *serialPort, const char *messa
             }
         }
 
+        _isBlocking = false;
+
         return true;
     }
 
+    _isBlocking = false;
+
     return false;
 }
 
@@ -3349,8 +3367,10 @@ bool mosaicIsPresentOnFlex()
                         millis() - start);
         if (settings.debugGnss)
             systemPrintf("mosaic-X5 baud rate %supdated\r\n", result ? "" : "NOT ");
+        serialTestGNSS.end();
         return result;
     }
 
+    serialTestGNSS.end();
     return false;
 }

Firmware/RTK_Everywhere/Tasks.ino

@@ -78,6 +78,7 @@ const int ringBufferConsumerEntries = sizeof(ringBufferConsumer) / sizeof(ringBu
 #define RTK_RTCM_PARSER_INDEX 2
 #define RTK_UBLOX_PARSER_INDEX 3
 #define RTK_UNICORE_BINARY_PARSER_INDEX 4
+#define RTK_SBF_PARSER_INDEX 5
 
 // List the parsers to be included
 SEMP_PARSE_ROUTINE const parserTable[] = {
@@ -86,6 +87,7 @@ SEMP_PARSE_ROUTINE const parserTable[] = {
     sempRtcmPreamble,
     sempUbloxPreamble,
     sempUnicoreBinaryPreamble,
+    sempSbfPreamble,
 };
 const int parserCount = sizeof(parserTable) / sizeof(parserTable[0]);
 
@@ -96,6 +98,7 @@ const char *const parserNames[] = {
     "RTCM",
     "u-Blox",
     "Unicore Binary",
+    "SBF",
 };
 const int parserNameCount = sizeof(parserNames) / sizeof(parserNames[0]);
 
@@ -391,7 +394,9 @@ void gnssReadTask(void *e)
     if (settings.debugGnss)
         sempEnableDebugOutput(rtkParse);
 
-    if (present.gnss_mosaicX5 && (productVariant != RTK_FLEX))
+    bool sbfParserNeeded = present.gnss_mosaicX5 && (productVariant != RTK_FLEX);
+
+    if (sbfParserNeeded)
     {
         // Initialize the SBF parser for the mosaic-X5
         sbfParse = sempBeginParser(sbfParserTable, sbfParserCount, sbfParserNames, sbfParserNameCount,
@@ -481,11 +486,11 @@ void gnssReadTask(void *e)
                 {
                     // Update the parser state based on the incoming byte
                     // On mosaic-X5, pass the byte to sbfParse. On all other platforms, pass it straight to rtkParse
-                    sempParseNextByte(present.gnss_mosaicX5 ? sbfParse : rtkParse, incomingData[x]);
+                    sempParseNextByte(sbfParserNeeded ? sbfParse : rtkParse, incomingData[x]);
 
                     // See notes above. On the mosaic-X5, check that the incoming SBF blocks have expected IDs and
                     // lengths to help prevent raw L-Band data being misidentified as SBF
-                    if (present.gnss_mosaicX5)
+                    if (sbfParserNeeded)
                     {
                         SEMP_SCRATCH_PAD *scratchPad = (SEMP_SCRATCH_PAD *)sbfParse->scratchPad;
 
@@ -633,6 +638,12 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
             systemPrintf("%s %s, 0x%04x (%d) bytes\r\n", parse->parserName, parserNames[type], parse->length,
                          parse->length);
             break;
+
+        case RTK_SBF_PARSER_INDEX:
+            message = sempSbfGetBlockNumber(parse);
+            systemPrintf("%s %s %d, 0x%04x (%d) bytes\r\n", parse->parserName, parserNames[type], message,
+                         parse->length, parse->length);
+            break;
         }
     }
 
@@ -678,6 +689,12 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
         nmeaExtractStdDeviations((char *)parse->buffer, parse->length);
     }
 
+    // Facet Flex mosaic - pass the SBF to processUart1SBF
+    if ((present.gnss_mosaicX5) && (productVariant == RTK_FLEX) && (type == RTK_SBF_PARSER_INDEX))
+    {
+        processUart1SBF(parse, type);
+    }        
+
     // Determine where to send RTCM data
     if (inBaseMode() && type == RTK_RTCM_PARSER_INDEX)
     {
@@ -694,7 +711,7 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
     if ((present.gnss_lg290p) && (pointPerfectIsEnabled()) && (mqttClientIsConnected() == true))
         usingPPL = true;
     // mosaic-X5 : Determine if we want to use corrections
-    if ((present.gnss_mosaicX5) && (pointPerfectIsEnabled()))
+    if ((present.gnss_mosaicX5) && (pointPerfectLbandNeeded()))
         usingPPL = true;
 
     if (usingPPL)
@@ -792,6 +809,14 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
         parse->length = 0;
     }
 
+    // Suppress SBF messages from mosaic. Not needed by end GIS apps.
+    if (type == RTK_SBF_PARSER_INDEX)
+    {
+        // Erase buffer
+        parse->buffer[0] = 0;
+        parse->length = 0;
+    }
+
     // Determine if this message will fit into the ring buffer
     bytesToCopy = parse->length;
     space = availableHandlerSpace;