Merge branch 'release_candidate' into AddFlexLoRa

PaulZC · PaulZC · commit f55f5a258eb8 · 2025-08-14T16:31:19.000+01:00
diff --git a/.github/workflows/non-release-build.yml b/.github/workflows/non-release-build.yml
@@ -10,6 +10,7 @@ env:
   POINTPERFECT_LBAND_TOKEN: ${{ secrets.POINTPERFECT_LBAND_TOKEN }}
   POINTPERFECT_IP_TOKEN: ${{ secrets.POINTPERFECT_IP_TOKEN }}
   POINTPERFECT_LBAND_IP_TOKEN: ${{ secrets.POINTPERFECT_LBAND_IP_TOKEN }}
+  POINTPERFECT_RTCM_TOKEN: ${{ secrets.POINTPERFECT_RTCM_TOKEN }}
   CORE_VERSION: 3.0.7
 
 jobs:
@@ -155,7 +156,7 @@ jobs:
         run: arduino-cli compile --fqbn "esp32:esp32:esp32":DebugLevel=${{ env.DEBUG_LEVEL }},PSRAM=enabled ./Firmware/RTK_Everywhere/RTK_Everywhere.ino
           --build-property build.partitions=RTKEverywhere
           --build-property upload.maximum_size=4055040
-          --build-property "compiler.cpp.extra_flags=-MMD -c \"-DPOINTPERFECT_LBAND_TOKEN=$POINTPERFECT_LBAND_TOKEN\" \"-DPOINTPERFECT_IP_TOKEN=$POINTPERFECT_IP_TOKEN\" \"-DPOINTPERFECT_LBAND_IP_TOKEN=$POINTPERFECT_LBAND_IP_TOKEN\" \"-DFIRMWARE_VERSION_MAJOR=$FIRMWARE_VERSION_MAJOR\" \"-DFIRMWARE_VERSION_MINOR=$FIRMWARE_VERSION_MINOR\" \"-DENABLE_DEVELOPER=${{ env.ENABLE_DEVELOPER }}\""
+          --build-property "compiler.cpp.extra_flags=-MMD -c \"-DPOINTPERFECT_LBAND_TOKEN=$POINTPERFECT_LBAND_TOKEN\" \"-DPOINTPERFECT_IP_TOKEN=$POINTPERFECT_IP_TOKEN\" \"-DPOINTPERFECT_LBAND_IP_TOKEN=$POINTPERFECT_LBAND_IP_TOKEN\" \"-DPOINTPERFECT_RTCM_TOKEN=$POINTPERFECT_RTCM_TOKEN\"  \"-DFIRMWARE_VERSION_MAJOR=$FIRMWARE_VERSION_MAJOR\" \"-DFIRMWARE_VERSION_MINOR=$FIRMWARE_VERSION_MINOR\" \"-DENABLE_DEVELOPER=${{ env.ENABLE_DEVELOPER }}\""
           --export-binaries
 
       - name: Create artifact name
diff --git a/Firmware/RTK_Everywhere/Begin.ino b/Firmware/RTK_Everywhere/Begin.ino
@@ -1529,10 +1529,6 @@ void beginSystemState()
 
         // Return to either Base or Rover Not Started. The last state previous to power down.
         systemState = settings.lastState;
-
-        // If the setting is not set, override with default
-        if (settings.antennaPhaseCenter_mm == 0.0)
-            settings.antennaPhaseCenter_mm = present.antennaPhaseCenter_mm;
     }
     else if (productVariant == RTK_POSTCARD)
     {
diff --git a/Firmware/RTK_Everywhere/GNSS_UM980.ino b/Firmware/RTK_Everywhere/GNSS_UM980.ino
@@ -252,8 +252,8 @@ bool GNSS_UM980::configureOnce()
     response &= _um980->setPortBaudrate("COM2", 115200); // COM2 is connected to the IMU
     response &= _um980->setPortBaudrate("COM3", 115200); // COM3 is connected to the switch, then ESP32
 
-    // For now, let's not change the baud rate of the interface. We'll be using the default 115200 for now.
-    response &= setBaudRateCOM3(settings.dataPortBaud); // COM3 is connected to ESP UART2
+    //  // For now, let's not change the baud rate of the interface. We'll be using the default 115200 for now.
+    //  response &= setBaudRateCOM3(settings.dataPortBaud); // COM3 is connected to ESP UART2
 
     // Enable PPS signal with a width of 200ms, and a period of 1 second
     response &= _um980->enablePPS(200000, 1000); // widthMicroseconds, periodMilliseconds
diff --git a/Firmware/RTK_Everywhere/Patch/libmbedcrypto.a b/Firmware/RTK_Everywhere/Patch/libmbedcrypto.a
diff --git a/Firmware/RTK_Everywhere/Patch/libmbedtls.a b/Firmware/RTK_Everywhere/Patch/libmbedtls.a
diff --git a/Firmware/RTK_Everywhere/Patch/libmbedtls_2.a b/Firmware/RTK_Everywhere/Patch/libmbedtls_2.a
diff --git a/Firmware/RTK_Everywhere/Patch/libmbedx509.a b/Firmware/RTK_Everywhere/Patch/libmbedx509.a
diff --git a/Firmware/RTK_Everywhere/System.ino b/Firmware/RTK_Everywhere/System.ino
@@ -401,6 +401,9 @@ void settingsToDefaults()
 {
     static const Settings defaultSettings;
     settings = defaultSettings;
+
+    checkArrayDefaults(); // This does not call recordSystemSettings
+    checkGNSSArrayDefaults(); // This calls recordSystemSettings if any GNSS defaults are applied
 }
 
 // Periodically print information if enabled
diff --git a/Firmware/RTK_Everywhere/WebServer.ino b/Firmware/RTK_Everywhere/WebServer.ino
@@ -63,8 +63,8 @@ static int last_ws_fd;
 
 static TaskHandle_t updateWebServerTaskHandle;
 static const uint8_t updateWebServerTaskPriority = 0; // 3 being the highest, and 0 being the lowest
-static const int webServerTaskStackSize = 1024 * 4;
-static const int webSocketStackSize = 1024 * 20; // Needs to be large enough to hold the file manager file list
+static const int webServerTaskStackSize = 1024 * 4; // Needs to be large enough to hold the file manager file list
+static const int webSocketStackSize = 1024 * 20; // Needs to be large enough to hold the full settingsCSV
 
 // Inspired by:
 // https://github.com/espressif/arduino-esp32/blob/master/libraries/WebServer/examples/MultiHomedServers/MultiHomedServers.ino
@@ -1375,6 +1375,34 @@ static const httpd_uri_t ws = {.uri = "/ws",
 //----------------------------------------
 void httpdDisplayConfig(struct httpd_config *config)
 {
+    /*
+    httpd_config object:
+            5: task_priority
+        20480: stack_size
+    2147483647: core_id
+            81: server_port
+        32768: ctrl_port
+            7: max_open_sockets
+            8: max_uri_handlers
+            8: max_resp_headers
+            5: backlog_conn
+        false: lru_purge_enable
+            5: recv_wait_timeout
+            5: send_wait_timeout
+    0x0: global_user_ctx
+    0x0: global_user_ctx_free_fn
+    0x0: global_transport_ctx
+    0x0: global_transport_ctx_free_fn
+        false: enable_so_linger
+            0: linger_timeout
+        false: keep_alive_enable
+            0: keep_alive_idle
+            0: keep_alive_interval
+            0: keep_alive_count
+    0x0: open_fn
+    0x0: close_fn
+    0x0: uri_match_fn
+    */
     systemPrintf("httpd_config object:\r\n");
     systemPrintf("%10d: task_priority\r\n", config->task_priority);
     systemPrintf("%10d: stack_size\r\n", config->stack_size);
@@ -1416,7 +1444,7 @@ bool websocketServerStart(void)
     // Use different ports for websocket and webServer - use port 81 for the websocket - also defined in main.js
     config.server_port = 81;
 
-    // Increase the stack size from 4K to handle page processing
+    // Increase the stack size from 4K to handle page processing (settingsCSV)
     config.stack_size = webSocketStackSize;
 
     // Start the httpd server
diff --git a/Firmware/RTK_Everywhere/form.h b/Firmware/RTK_Everywhere/form.h
@@ -26,7 +26,7 @@
 //  python main_js_zipper.py
 
 static const uint8_t main_js[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x7C, 0x6B, 0x9B, 0x68, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
+  0x1F, 0x8B, 0x08, 0x08, 0x62, 0x84, 0x9D, 0x68, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
   0x73, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0xEB, 0x5A, 0x1B, 0x39, 0xB6, 0xE8, 0xFF,
   0x3C, 0x85, 0xC6, 0x67, 0xCE, 0xD8, 0x0C, 0xC6, 0x94, 0xCD, 0x25, 0x10, 0x42, 0xF6, 0x21, 0x40,
   0x12, 0xCE, 0x70, 0x3B, 0x98, 0x74, 0x77, 0xBA, 0x27, 0x9B, 0x5D, 0xD8, 0xC2, 0xD4, 0x8E, 0x5D,
@@ -1076,7 +1076,7 @@ static const uint8_t main_js[] PROGMEM = {
 //  python index_html_zipper.py
 
 static const uint8_t index_html[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x7C, 0x6B, 0x9B, 0x68, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
+  0x1F, 0x8B, 0x08, 0x08, 0x62, 0x84, 0x9D, 0x68, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
   0x68, 0x74, 0x6D, 0x6C, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0x59, 0x76, 0xDB, 0xCA,
   0x92, 0xE0, 0xFF, 0x5D, 0x45, 0x16, 0xAB, 0xBB, 0x2C, 0x57, 0x8B, 0x14, 0x48, 0x4A, 0xB2, 0xAC,
   0x67, 0xEB, 0x1C, 0x6A, 0xB0, 0xAD, 0x7E, 0xB2, 0xCC, 0x12, 0xE5, 0x77, 0x87, 0x3E, 0xDD, 0xF7,
diff --git a/Firmware/RTK_Everywhere/menuCommands.ino b/Firmware/RTK_Everywhere/menuCommands.ino
@@ -2016,9 +2016,6 @@ void createSettingsString(char *newSettings)
     }
     stringRecord(newSettings, "lastState", lastState);
 
-    stringRecord(
-        newSettings, "profileName",
-        profileNames[profileNumber]); // Must come before profile number so AP config page JS has name before number
     stringRecord(newSettings, "profileNumber", profileNumber);
     for (int index = 0; index < MAX_PROFILE_COUNT; index++)
     {
diff --git a/Firmware/RTK_Everywhere/menuMessages.ino b/Firmware/RTK_Everywhere/menuMessages.ino
@@ -655,6 +655,13 @@ void checkGNSSArrayDefaults()
 #ifdef COMPILE_UM980
     else if (present.gnss_um980)
     {
+        if (settings.dataPortBaud != 115200)
+        {
+            // Belt and suspenders... Let's make really sure COM3 only ever runs at 115200
+            defaultsApplied = true;
+            settings.dataPortBaud = 115200;
+        }
+
         if (settings.dynamicModel == 254)
         {
             defaultsApplied = true;
@@ -829,19 +836,25 @@ void checkGNSSArrayDefaults()
     }
 #endif  // COMPILE_LG290P
 
+    // If defaults have been applied, override antennaPhaseCenter_mm with default
+    // (This was in beginSystemState - for the Torch / UM980 only. Weird...)
+    if (defaultsApplied)
+    {
+        settings.antennaPhaseCenter_mm = present.antennaPhaseCenter_mm;
+    }
 
     // If defaults were applied, also default the non-array settings for this particular GNSS receiver
     if (defaultsApplied == true)
     {
         if (present.gnss_um980)
         {
-            settings.minCNO = 10;                    // Default 10 degrees
+            settings.minCNO = 10;                    // Default 10 dBHz
             settings.surveyInStartingAccuracy = 2.0; // Default 2m
             settings.measurementRateMs = 500;        // Default 2Hz.
         }
         else if (present.gnss_zedf9p)
         {
-            settings.minCNO = 6;                     // Default 6 degrees
+            settings.minCNO = 6;                     // Default 6 dBHz
             settings.surveyInStartingAccuracy = 1.0; // Default 1m
             settings.measurementRateMs = 250;        // Default 4Hz.
         }
diff --git a/Firmware/RTK_Everywhere/settings.h b/Firmware/RTK_Everywhere/settings.h
@@ -926,7 +926,7 @@ struct Settings
     // Rover operation
     uint8_t dynamicModel = 254; // Default will be applied by checkGNSSArrayDefaults
     bool enablePrintRoverAccuracy = true;
-    int16_t minCNO = 6;                 // Minimum satellite signal level for navigation. ZED-F9P default is 6 dBHz
+    int16_t minCNO = 6;   // Minimum satellite signal level for navigation. ZED-F9P default is 6 dBHz
     uint8_t minElev = 10; // Minimum elevation (in deg) for a GNSS satellite to be used in NAV
 
     // RTC (Real Time Clock)
@@ -1593,7 +1593,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     // Rover operation
     { 1, 1, 0, 1, 1, 1, 1, 1, 0, ALL, _uint8_t,  0, & settings.dynamicModel, "dynamicModel",  },
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, _bool,     0, & settings.enablePrintRoverAccuracy, "enablePrintRoverAccuracy",  },
-    { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, _int16_t,  0, & settings.minCNO, "minCNO",  },
+    { 0, 1, 0, 1, 1, 1, 1, 1, 1, ALL, _int16_t,  0, & settings.minCNO, "minCNO",  }, // Not inWebConfig - createSettingsString gets from GNSS
     { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, _uint8_t,  0, & settings.minElev, "minElev",  },
 
     // RTC (Real Time Clock)
@@ -1649,7 +1649,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     // State
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, _bool,     0, & settings.enablePrintDuplicateStates, "enablePrintDuplicateStates",  },
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, _bool,     0, & settings.enablePrintStates, "enablePrintStates",  },
-    { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, tSysState, 0, & settings.lastState, "lastState",  },
+    { 0, 1, 0, 1, 1, 1, 1, 1, 1, ALL, tSysState, 0, & settings.lastState, "lastState",  }, // Not inWebConfig - must be changed to 0:3 by createSettingsString
 
     // TCP Client
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, _bool,     0, & settings.debugTcpClient, "debugTcpClient",  },
diff --git a/Firmware/Tools/Settings_Diff.py b/Firmware/Tools/Settings_Diff.py
@@ -0,0 +1,118 @@
+# Performs a 'diff' on two RTK (Everywhere) Firmware settings CSV files
+#
+# E.g. the settings CSVs passed between the firmware and the web config javascript
+# The order of the settings going in one direction is very different to the other direction,
+# making it tricky to compare them directly
+# This code performs an exhaustive diff: looking for differences between the two;
+# any duplicates; and finding any settings present in one but not the other
+
+import sys
+import os
+
+class RTK_Settings_Diff():
+
+    def __init__(self, File1:str = None, File2:str = None):
+        self.filename1 = File1
+        self.filename2 = File2
+
+    def setFilename1(self, File:str):
+        self.filename1 = File
+
+    def setFilename2(self, File:str):
+        self.filename2 = File
+
+    def readByte(self, fi):
+        fileBytes = fi.read(1)
+        if (len(fileBytes) == 0):
+            return None
+        #print(chr(fileBytes[0]))
+        return chr(fileBytes[0])
+    
+    def readFile(self, filename):
+        print('Processing',filename)
+        print()
+        filesize = os.path.getsize(filename) # Record the file size
+
+        # Try to open file for reading
+        try:
+            fi = open(filename,"rb")
+        except:
+            raise Exception('Invalid file!')
+        
+        # Read the file
+        firstThing = ''
+        secondThing = ''
+        isFirstThing = True
+        things = {}
+
+        while filesize > 0:
+            c = self.readByte(fi)
+            if c == None:
+                fi.close()
+                return things
+            elif c == ',':
+                isFirstThing = not isFirstThing
+                if isFirstThing:
+                    if firstThing in things.keys(): # Seen it before?
+                        print('Duplicate setting: {},{} : {}'.format(firstThing, things[firstThing], secondThing))
+                    things[firstThing] = secondThing
+                    firstThing = ''
+                    secondThing = ''
+                    #print(firstThing, secondThing)
+            elif c == '\r':
+                pass
+            elif c == '\n':
+                pass
+            else:
+                if isFirstThing:
+                    firstThing = firstThing + str(c)
+                else:
+                    secondThing = secondThing + str(c)
+            filesize = filesize - 1
+        
+        fi.close()
+        return things
+
+    def diff(self):
+
+        print()
+
+        things1 = self.readFile(self.filename1)
+        #print(things1)
+
+        print()
+
+        things2 = self.readFile(self.filename2)
+        #print(things2)
+
+        print()
+
+        for thing1 in things1.keys():
+            if thing1 not in things2.keys():
+                print('Only found in file 1 : {},{}'.format(thing1,things1[thing1]))
+
+        print()
+
+        for thing2 in things2.keys():
+            if thing2 not in things1.keys():
+                print('Only found in file 2 : {},{}'.format(thing2,things2[thing2]))
+
+        print()
+
+        for thing1 in things1.keys():
+            if thing1 in things2.keys():
+                if things1[thing1] != things2[thing1]:
+                    print('Diff: {},{} : {}'.format(thing1,things1[thing1],things2[thing1]))
+
+if __name__ == '__main__':
+
+    import argparse
+
+    parser = argparse.ArgumentParser(description='SparkFun RTK Firmware Settings CSV Diff')
+    parser.add_argument('File1', metavar='File1', type=str, help='The path to the first settings CSV file')
+    parser.add_argument('File2', metavar='File2', type=str, help='The path to the second settings CSV file')
+    args = parser.parse_args()
+
+    diff = RTK_Settings_Diff(args.File1, args.File2)
+
+    diff.diff()

Original file line number	Diff line number	Diff line change
`@@ -1529,10 +1529,6 @@ void beginSystemState()`
`1529`	`1529`
`1530`	`1530`	`// Return to either Base or Rover Not Started. The last state previous to power down.`
`1531`	`1531`	`systemState = settings.lastState;`
`1532`		`-`
`1533`		`- // If the setting is not set, override with default`
`1534`		`- if (settings.antennaPhaseCenter_mm == 0.0)`
`1535`		`- settings.antennaPhaseCenter_mm = present.antennaPhaseCenter_mm;`
`1536`	`1532`	`}`
`1537`	`1533`	`else if (productVariant == RTK_POSTCARD)`
`1538`	`1534`	`{`
Original file line number	Diff line number	Diff line change
`@@ -401,6 +401,9 @@ void settingsToDefaults()`
`401`	`401`	`{`
`402`	`402`	`static const Settings defaultSettings;`
`403`	`403`	`settings = defaultSettings;`
	`404`	`+`
	`405`	`+ checkArrayDefaults(); // This does not call recordSystemSettings`
	`406`	`+ checkGNSSArrayDefaults(); // This calls recordSystemSettings if any GNSS defaults are applied`
`404`	`407`	`}`
`405`	`408`
`406`	`409`	`// Periodically print information if enabled`