Merge pull request #270 from sparkfun/Resolve_#267

nseidle · web-flow · commit ed8602c50448 · 2024-05-01T09:21:28.000-06:00
Resolve #267
diff --git a/Firmware/RTK_Everywhere/GNSS.ino b/Firmware/RTK_Everywhere/GNSS.ino
@@ -1,4 +1,4 @@
-// Connect to ZED module and identify particulars
+// Connect to GNSS and identify particulars
 void gnssBegin()
 {
     if (present.gnss_zedf9p)
diff --git a/Firmware/RTK_Everywhere/MQTT_Client.ino b/Firmware/RTK_Everywhere/MQTT_Client.ino
@@ -305,7 +305,7 @@ void mqttClientReceiveMessage(int messageSize)
 
         if (mqttCount > 0)
         {
-            // Correction data from PP can go direct to ZED module
+            // Correction data from PP can go direct to GNSS
             if (present.gnss_zedf9p)
             {
                 // Only push SPARTN if the priority says we can
@@ -316,7 +316,7 @@ void mqttClientReceiveMessage(int messageSize)
                     if (isHighestRegisteredCorrectionsSource(CORR_IP))
                     {
                         if (((settings.debugMqttClientData == true) || (settings.debugCorrections == true)) && !inMainMenu)
-                            systemPrintf("Pushing %d bytes from %s topic to ZED\r\n", mqttCount, topic);
+                            systemPrintf("Pushing %d bytes from %s topic to GNSS\r\n", mqttCount, topic);
 
                         updateZEDCorrectionsSource(0); // Set SOURCE to 0 (IP) if needed
 
@@ -326,7 +326,7 @@ void mqttClientReceiveMessage(int messageSize)
                     else
                     {
                         if (((settings.debugMqttClientData == true) || (settings.debugCorrections == true)) && !inMainMenu)
-                            systemPrintf("NOT pushing %d bytes from %s topic to ZED due to priority\r\n", mqttCount, topic);
+                            systemPrintf("NOT pushing %d bytes from %s topic to GNSS due to priority\r\n", mqttCount, topic);
                     }
                 }
                 // Always push KEYS and MGA to the ZED
diff --git a/Firmware/RTK_Everywhere/NtripClient.ino b/Firmware/RTK_Everywhere/NtripClient.ino
@@ -836,15 +836,15 @@ void ntripClientUpdate()
                             if ((settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) && (!inMainMenu))
                             {
                                 PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);
-                                systemPrintf("NTRIP Client received %d RTCM bytes, pushed to ZED\r\n", rtcmCount);
+                                systemPrintf("NTRIP Client received %d RTCM bytes, pushed to GNSS\r\n", rtcmCount);
                             }
                         }
                         else
                         {
                             if ((settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) && (!inMainMenu))
                             {
                                 PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);
-                                systemPrintf("NTRIP Client received %d RTCM bytes, NOT pushed to ZED due to priority\r\n", rtcmCount);
+                                systemPrintf("NTRIP Client received %d RTCM bytes, NOT pushed to GNSS due to priority\r\n", rtcmCount);
                             }
                         }
                     }
diff --git a/Firmware/RTK_Everywhere/PointPerfectLibrary.ino b/Firmware/RTK_Everywhere/PointPerfectLibrary.ino
@@ -33,8 +33,8 @@ void updatePplTask(void *e)
             {
                 if (rtcmLength > 0)
                 {
-                    updateCorrectionsLastSeen(CORR_LBAND);
-                    if (isHighestRegisteredCorrectionsSource(CORR_LBAND))
+                    updateCorrectionsLastSeen(pplCorrectionsSource);
+                    if (isHighestRegisteredCorrectionsSource(pplCorrectionsSource))
                     {
                         // Set ZED SOURCE to 1 (L-Band) if needed
                         // Note: this is almost certainly redundant. It would only be used if we
@@ -318,17 +318,18 @@ bool sendGnssToPpl(uint8_t *buffer, int numDataBytes)
     return false;
 }
 
-// Send Spartn packets from PointPerfect (either IP or L-Band) to PPL
+// Send Spartn packets from PointPerfect to PPL
 bool sendSpartnToPpl(uint8_t *buffer, int numDataBytes)
 {
     if (online.ppl == true)
     {
+        pplCorrectionsSource = CORR_IP;
 
         ePPL_ReturnStatus result = PPL_SendSpartn(buffer, numDataBytes);
         if (result != ePPL_Success)
         {
             if (settings.debugCorrections == true)
-                systemPrintf("ERROR processRXMPMP PPL_SendSpartn: %s\r\n", PPLReturnStatusToStr(result));
+                systemPrintf("ERROR PPL_SendSpartn: %s\r\n", PPLReturnStatusToStr(result));
             return false;
         }
         lastMqttToPpl = millis();
@@ -342,6 +343,31 @@ bool sendSpartnToPpl(uint8_t *buffer, int numDataBytes)
     return false;
 }
 
+// Send raw L-Band Spartn packets from mosaic X5 to PPL
+bool sendAuxSpartnToPpl(uint8_t *buffer, int numDataBytes)
+{
+    if (online.ppl == true)
+    {
+        pplCorrectionsSource = CORR_LBAND;
+
+        ePPL_ReturnStatus result = PPL_SendAuxSpartn(buffer, numDataBytes);
+        if (result != ePPL_Success)
+        {
+            if (settings.debugCorrections == true)
+                systemPrintf("ERROR PPL_SendAuxSpartn: %s\r\n", PPLReturnStatusToStr(result));
+            return false;
+        }
+        lastMqttToPpl = millis();
+        return true;
+    }
+    else
+    {
+        pplLBandCorrections = true; // Notify updatePPL() that L-Band is online
+    }
+
+    return false;
+}
+
 // Print human-readable PPL status
 const char *PPLReturnStatusToStr(ePPL_ReturnStatus status)
 {
diff --git a/Firmware/RTK_Everywhere/RTK_Everywhere.ino b/Firmware/RTK_Everywhere/RTK_Everywhere.ino
@@ -636,6 +636,7 @@ uint8_t *pplRtcmBuffer;
 bool pplAttemptedStart = false;
 bool pplGnssOutput = false;
 bool pplMqttCorrections = false;
+bool pplLBandCorrections = false; // Raw L-Band - e.g. from mosaic X5
 unsigned long pplKeyExpirationMs = 0; // Milliseconds until the current PPL key expires
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -692,7 +693,7 @@ uint32_t triggerTowMsR;    // Global copy - Time Of Week of rising edge (ms)
 uint32_t triggerTowSubMsR; // Global copy - Millisecond fraction of Time Of Week of rising edge in nanoseconds
 uint32_t triggerAccEst;    // Global copy - Accuracy estimate in nanoseconds
 
-bool firstPowerOn = true;  // After boot, apply new settings to ZED if the user switches between base or rover
+bool firstPowerOn = true;  // After boot, apply new settings to GNSS if the user switches between base or rover
 unsigned long splashStart; // Controls how long the splash is displayed for. Currently min of 2s.
 bool restartBase;          // If the user modifies any NTRIP Server settings, we need to restart the base
 bool restartRover;         // If the user modifies any NTRIP Client or PointPerfect settings, we need to restart the rover
@@ -723,6 +724,10 @@ uint16_t failedParserMessages_UBX;
 uint16_t failedParserMessages_RTCM;
 uint16_t failedParserMessages_NMEA;
 
+// Corrections Priorities Support
+std::vector<registeredCorrectionsSource> registeredCorrectionsSources; // vector (linked list) of registered corrections sources for this device
+correctionsSource pplCorrectionsSource = CORR_NUM; // Record which source is feeding the PPL
+
 // configureViaEthernet:
 //  Set to true if configureViaEthernet.txt exists in LittleFS.
 //  Causes setup and loop to skip any code which would cause SPI or interrupts to be initialized.
diff --git a/Firmware/RTK_Everywhere/Tasks.ino b/Firmware/RTK_Everywhere/Tasks.ino
@@ -137,7 +137,7 @@ void btReadTask(void *e)
             systemPrintln("btReadTask running");
         }
 
-        // Receive RTCM corrections or UBX config messages over bluetooth and pass them along to ZED
+        // Receive RTCM corrections or UBX config messages over bluetooth and pass them along to GNSS
         rxBytes = 0;
         if (bluetoothGetState() == BT_CONNECTED)
         {
diff --git a/Firmware/RTK_Everywhere/form.h b/Firmware/RTK_Everywhere/form.h
diff --git a/Firmware/RTK_Everywhere/menuCorrectionsPriorities.ino b/Firmware/RTK_Everywhere/menuCorrectionsPriorities.ino
diff --git a/Firmware/RTK_Everywhere/settings.h b/Firmware/RTK_Everywhere/settings.h

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-// Connect to ZED module and identify particulars`
	`1`	`+// Connect to GNSS and identify particulars`
`2`	`2`	`void gnssBegin()`
`3`	`3`	`{`
`4`	`4`	`if (present.gnss_zedf9p)`
Original file line number	Diff line number	Diff line change
`@@ -305,7 +305,7 @@ void mqttClientReceiveMessage(int messageSize)`
`305`	`305`
`306`	`306`	`if (mqttCount > 0)`
`307`	`307`	`{`
`308`		`- // Correction data from PP can go direct to ZED module`
	`308`	`+ // Correction data from PP can go direct to GNSS`
`309`	`309`	`if (present.gnss_zedf9p)`
`310`	`310`	`{`
`311`	`311`	`// Only push SPARTN if the priority says we can`
`@@ -316,7 +316,7 @@ void mqttClientReceiveMessage(int messageSize)`
`316`	`316`	`if (isHighestRegisteredCorrectionsSource(CORR_IP))`
`317`	`317`	`{`
`318`	`318`	`if (((settings.debugMqttClientData == true) \|\| (settings.debugCorrections == true)) && !inMainMenu)`
`319`		`- systemPrintf("Pushing %d bytes from %s topic to ZED\r\n", mqttCount, topic);`
	`319`	`+ systemPrintf("Pushing %d bytes from %s topic to GNSS\r\n", mqttCount, topic);`
`320`	`320`
`321`	`321`	`updateZEDCorrectionsSource(0); // Set SOURCE to 0 (IP) if needed`
`322`	`322`
`@@ -326,7 +326,7 @@ void mqttClientReceiveMessage(int messageSize)`
`326`	`326`	`else`
`327`	`327`	`{`
`328`	`328`	`if (((settings.debugMqttClientData == true) \|\| (settings.debugCorrections == true)) && !inMainMenu)`
`329`		`- systemPrintf("NOT pushing %d bytes from %s topic to ZED due to priority\r\n", mqttCount, topic);`
	`329`	`+ systemPrintf("NOT pushing %d bytes from %s topic to GNSS due to priority\r\n", mqttCount, topic);`
`330`	`330`	`}`
`331`	`331`	`}`
`332`	`332`	`// Always push KEYS and MGA to the ZED`
Original file line number	Diff line number	Diff line change
`@@ -836,15 +836,15 @@ void ntripClientUpdate()`
`836`	`836`	`if ((settings.debugNtripClientRtcm \|\| PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) && (!inMainMenu))`
`837`	`837`	`{`
`838`	`838`	`PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);`
`839`		`- systemPrintf("NTRIP Client received %d RTCM bytes, pushed to ZED\r\n", rtcmCount);`
	`839`	`+ systemPrintf("NTRIP Client received %d RTCM bytes, pushed to GNSS\r\n", rtcmCount);`
`840`	`840`	`}`
`841`	`841`	`}`
`842`	`842`	`else`
`843`	`843`	`{`
`844`	`844`	`if ((settings.debugNtripClientRtcm \|\| PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) && (!inMainMenu))`
`845`	`845`	`{`
`846`	`846`	`PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);`
`847`		`- systemPrintf("NTRIP Client received %d RTCM bytes, NOT pushed to ZED due to priority\r\n", rtcmCount);`
	`847`	`+ systemPrintf("NTRIP Client received %d RTCM bytes, NOT pushed to GNSS due to priority\r\n", rtcmCount);`
`848`	`848`	`}`
`849`	`849`	`}`
`850`	`850`	`}`
Original file line number	Diff line number	Diff line change
`@@ -137,7 +137,7 @@ void btReadTask(void *e)`
`137`	`137`	`systemPrintln("btReadTask running");`
`138`	`138`	`}`
`139`	`139`
`140`		`- // Receive RTCM corrections or UBX config messages over bluetooth and pass them along to ZED`
	`140`	`+ // Receive RTCM corrections or UBX config messages over bluetooth and pass them along to GNSS`
`141`	`141`	`rxBytes = 0;`
`142`	`142`	`if (bluetoothGetState() == BT_CONNECTED)`
`143`	`143`	`{`