The Iliad - Book I

Firmware/Dockerfile

@@ -76,7 +76,7 @@ RUN arduino-cli lib install "SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
 RUN arduino-cli lib install "SparkFun u-blox GNSS v3"@3.1.10
 RUN arduino-cli lib install "SparkFun Qwiic OLED Arduino Library"@1.0.13
 RUN arduino-cli lib install [email protected]
-RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.4
+RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.6
 RUN arduino-cli lib install "SparkFun BQ40Z50 Battery Manager Arduino Library"@1.0.0
 RUN arduino-cli lib install "ArduinoMqttClient"@0.1.8
 RUN arduino-cli lib install "SparkFun u-blox PointPerfect Library"@1.11.4

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -903,6 +903,11 @@
                         <div class="collapse" id="ntripServerConfig0">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_0">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_0">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_0"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -976,6 +981,11 @@
                         <div class="collapse" id="ntripServerConfig1">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_1">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_1">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_1"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -1049,6 +1059,11 @@
                         <div class="collapse" id="ntripServerConfig2">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_2">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_2">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_2"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -1122,6 +1137,11 @@
                         <div class="collapse" id="ntripServerConfig3">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_3">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_3">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_3"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster

Firmware/RTK_Everywhere/AP-Config/src/main.js

@@ -661,6 +661,16 @@ function parseIncoming(msg) {
             ge("antennaHeight_m").value = val / 1000.0;
         }
 
+        //enableExtCorrRadio should be bool but is sent as uint8_t because it _could_ be 254
+        else if (id.includes("enableExtCorrRadio")) {
+            if (val == 0) {
+                ge(id).checked = false;
+            }
+            else {
+                ge(id).checked = true;
+            }
+        }
+
         //Check boxes / radio buttons
         else if (val == "true") {
             try {

Firmware/RTK_Everywhere/Base.ino

@@ -2,21 +2,125 @@
 Base.ino
 =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
-// This function gets called when an RTCM packet passes parser check in processUart1Message() task
-// Pass data along to NTRIP Server, or ESP-NOW radio
-void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+// Enough storage for two rounds of RTCM 1074,1084,1094,1124,1005
+// To help prevent the "no increase in file size" and "due to lack of RTCM" glitch:
+// RTCM is stored in PSRAM by the processUart1Message task and written by sendRTCMToConsumers
+const uint8_t rtcmConsumerBufferEntries = 16;
+const uint16_t rtcmConsumerBufferEntrySize = 1032; // RTCM can be up to 1024 + 6 bytes
+uint16_t rtcmConsumerBufferLengths[rtcmConsumerBufferEntries];
+volatile uint8_t rtcmConsumerBufferHead;
+volatile uint8_t rtcmConsumerBufferTail;
+uint8_t *rtcmConsumerBufferPtr = nullptr;
+
+//----------------------------------------
+// Allocate and initialize the rtcmConsumerBuffer
+//----------------------------------------
+bool rtcmConsumerBufferAllocated()
 {
-    // Give this byte to the various possible transmission methods
-    for (int x = 0; x < dataLength; x++)
+    if (rtcmConsumerBufferPtr == nullptr)
     {
-        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
-            ntripServerProcessRTCM(serverIndex, rtcmData[x]);
+        rtcmConsumerBufferPtr = (uint8_t *)rtkMalloc(
+            (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferEntries,
+            "ntripBuffer");
+        for (uint8_t i = 0; i < rtcmConsumerBufferEntries; i++)
+            rtcmConsumerBufferLengths[i] = 0;
+        rtcmConsumerBufferHead = 0;
+        rtcmConsumerBufferTail = 0;
+    }
+    if (rtcmConsumerBufferPtr == nullptr)
+    {
+        systemPrintln("rtcmConsumerBuffer malloc failed!");
+        return false;
     }
 
-    for (int x = 0; x < dataLength; x++)
-        espNowProcessRTCM(rtcmData[x]);
+    return true;
+}
 
-    loraProcessRTCM(rtcmData, dataLength);
+//----------------------------------------
+// Check how many RTCM buffers contain data
+//----------------------------------------
+uint8_t rtcmBuffersInUse()
+{
+    if (!rtcmConsumerBufferAllocated())
+        return 0;
+
+    uint8_t buffersInUse = rtcmConsumerBufferHead - rtcmConsumerBufferTail;
+    if (buffersInUse >= rtcmConsumerBufferEntries) // Wrap if Tail is > Head
+        buffersInUse += rtcmConsumerBufferEntries;
+    return buffersInUse;
+}
+
+//----------------------------------------
+// Check if any RTCM data is available
+//----------------------------------------
+bool rtcmDataAvailable()
+{
+    return (rtcmBuffersInUse() > 0);
+}
+
+//----------------------------------------
+// Store each RTCM message in a PSRAM buffer
+// This function gets called as each complete RTCM message comes in
+// The messages are written to the servers by sendRTCMToConsumers
+//----------------------------------------
+void storeRTCMForConsumers(uint8_t *rtcmData, uint16_t dataLength)
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    // Check if a buffer is available
+    if (rtcmBuffersInUse() < (rtcmConsumerBufferEntries - 1))
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferHead;
+        memcpy(dest, rtcmData, dataLength); // Store the RTCM
+        rtcmConsumerBufferLengths[rtcmConsumerBufferHead] = dataLength; // Store the length
+        rtcmConsumerBufferHead = rtcmConsumerBufferHead + 1; // Increment the Head
+        rtcmConsumerBufferHead = rtcmConsumerBufferHead % rtcmConsumerBufferEntries; // Wrap
+    }
+    else
+    {
+        if (settings.debugNtripServerRtcm && (!inMainMenu))
+            systemPrintln("rtcmConsumerBuffer full. RTCM lost");
+    }
+}
+
+//----------------------------------------
+// Send the stored RTCM to consumers: ntripServer, LoRa and ESP-NOW
+//----------------------------------------
+void sendRTCMToConsumers()
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    while (rtcmConsumerBufferHead != rtcmConsumerBufferTail)
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferTail;
+
+        // NTRIP Server
+        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
+            ntripServerSendRTCM(serverIndex, dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
+
+        // LoRa
+        loraProcessRTCM(dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
+
+        // ESP-NOW
+        for (uint16_t x = 0; x < rtcmConsumerBufferLengths[rtcmConsumerBufferTail]; x++)
+            espNowProcessRTCM(dest[x]);
+
+        rtcmConsumerBufferTail = rtcmConsumerBufferTail + 1; // Increment the Tail
+        rtcmConsumerBufferTail = rtcmConsumerBufferTail % rtcmConsumerBufferEntries; // Wrap
+    }
+}
+
+//----------------------------------------
+// Store data ready to be passed along to NTRIP Server, or ESP-NOW radio
+// This function gets called when an RTCM packet passes parser check in processUart1Message() task
+//----------------------------------------
+void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+{
+    storeRTCMForConsumers(rtcmData, dataLength);
 
     rtcmLastPacketSent = millis();
     rtcmPacketsSent++;

Firmware/RTK_Everywhere/Begin.ino

@@ -357,6 +357,7 @@ void beginBoard()
         pin_modeButton = 0;
         // 24, D2  : Status LED
         pin_baseStatusLED = 2;
+        //pin_debug = 2; // On EVK we can use the Status LED for debug
         // 29, D5  : GNSS TP via 74LVC4066 switch
         pin_GNSS_TimePulse = 5;
         // 14, D12 : I2C1 SDA via 74LVC4066 switch
@@ -421,6 +422,10 @@ void beginBoard()
         pinMode(pin_baseStatusLED, OUTPUT);
         baseStatusLedOff();
 
+        DMW_if systemPrintf("pin_debug: %d\r\n", pin_debug);
+        pinMode(pin_debug, OUTPUT);
+        pinDebugOff();
+
         DMW_if systemPrintf("pin_Cellular_Network_Indicator: %d\r\n", pin_Cellular_Network_Indicator);
         pinMode(pin_Cellular_Network_Indicator, INPUT);
 

Firmware/RTK_Everywhere/Bluetooth.ino

@@ -742,13 +742,13 @@ void bluetoothStop()
         {
             bluetoothSerialBle->flush();      // Complete any transfers
             bluetoothSerialBle->disconnect(); // Drop any clients
-            bluetoothSerialBle->end();        // Release resources
+            //bluetoothSerialBle->end();        // Release resources : causes FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBle;
             //bluetoothSerialBle = nullptr;
 
             bluetoothSerialBleCommands->flush();      // Complete any transfers
             bluetoothSerialBleCommands->disconnect(); // Drop any clients
-            bluetoothSerialBleCommands->end();        // Release resources
+            //bluetoothSerialBleCommands->end();        // Release resources : causes FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBleCommands;
             //bluetoothSerialBleCommands = nullptr;
 
@@ -776,13 +776,13 @@ void bluetoothStop()
         {
             bluetoothSerialBle->flush();      // Complete any transfers
             bluetoothSerialBle->disconnect(); // Drop any clients
-            bluetoothSerialBle->end();        // Release resources
+            //bluetoothSerialBle->end();        // Release resources : FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBle;
             //bluetoothSerialBle = nullptr;
 
             bluetoothSerialBleCommands->flush();      // Complete any transfers
             bluetoothSerialBleCommands->disconnect(); // Drop any clients
-            bluetoothSerialBleCommands->end();        // Release resources
+            //bluetoothSerialBleCommands->end();        // Release resources : FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBleCommands;
             //bluetoothSerialBleCommands = nullptr;
 

Firmware/RTK_Everywhere/Developer.ino

@@ -238,10 +238,11 @@ void ntripClientSettingsChanged() {}
 #ifndef COMPILE_NTRIP_SERVER
 bool ntripServerIsCasting(int serverIndex) {return false;}
 void ntripServerPrintStatus(int serverIndex) {systemPrintf("**NTRIP Server %d not compiled**\r\n", serverIndex);}
-void ntripServerProcessRTCM(int serverIndex, uint8_t incoming) {}
+void ntripServerSendRTCM(int serverIndex, uint8_t *rtcmData, uint16_t dataLength) {}
 void ntripServerStop(int serverIndex, bool shutdown) {online.ntripServer[serverIndex] = false;}
 void ntripServerUpdate() {}
 void ntripServerValidateTables() {}
+void ntripServerSettingsChanged(int serverIndex) {}
 #endif   // COMPILE_NTRIP_SERVER
 
 //----------------------------------------

Firmware/RTK_Everywhere/LED.ino

@@ -50,6 +50,18 @@ void baseStatusLedOff()
         digitalWrite(pin_baseStatusLED, LOW);
 }
 
+void pinDebugOn()
+{
+    if (pin_debug != PIN_UNDEFINED)
+        digitalWrite(pin_debug, HIGH);
+}
+
+void pinDebugOff()
+{
+    if (pin_debug != PIN_UNDEFINED)
+        digitalWrite(pin_debug, LOW);
+}
+
 void baseStatusLedBlink()
 {
     if (pin_baseStatusLED != PIN_UNDEFINED)

Firmware/RTK_Everywhere/NVM.ino

@@ -383,6 +383,14 @@ void recordSystemSettingsToFile(File *settingsFile)
             }
         }
         break;
+        case tNSCEn: {
+            for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
+            {
+                settingsFile->printf("%s%d=%d\r\n", rtkSettingsEntries[i].name, x,
+                                     settings.ntripServer_CasterEnabled[x]);
+            }
+        }
+        break;
         case tNSCHost: {
             for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
             {
@@ -1067,6 +1075,15 @@ bool parseLine(char *str)
                     }
                 }
                 break;
+                case tNSCEn: {
+                    int server;
+                    if (sscanf(suffix, "%d", &server) == 1)
+                    {
+                        settings.ntripServer_CasterEnabled[server] = d;
+                        knownSetting = true;
+                    }
+                }
+                break;
                 case tNSCHost: {
                     int server;
                     if (sscanf(suffix, "%d", &server) == 1)

Firmware/RTK_Everywhere/NtripClient.ino

@@ -200,7 +200,7 @@ unsigned long lastGGAPush;
 
 bool ntripClientForcedShutdown = false; // NTRIP Client was turned off due to an error. Don't allow restart.
 
-bool settingsChanged = false; // Goes true when a menu or command modified the client credentials
+bool ntripClientSettingsHaveChanged = false; // Goes true when a menu or command modified the client credentials
 
 //----------------------------------------
 // NTRIP Client Routines
@@ -396,9 +396,9 @@ bool ntripClientEnabled(const char **line)
         enabled = settings.enableNtripClient;
 
         // Allow restart if settings change
-        if(settingsChanged == true)
+        if(ntripClientSettingsHaveChanged == true)
         {
-            settingsChanged = false;
+            ntripClientSettingsHaveChanged = false;
             ntripClientForcedShutdown = false;
         }
 
@@ -600,7 +600,7 @@ void ntripClientSetState(uint8_t newState)
 // Called from CLI call backs or serial menus to let machine know it can restart the client if it is shut down
 void ntripClientSettingsChanged()
 {
-    settingsChanged = true;
+    ntripClientSettingsHaveChanged = true;
 }
 
 //----------------------------------------
@@ -916,9 +916,9 @@ void ntripClientUpdate()
             }
 
             // Check if the there have been changes to the client settings
-            if(settingsChanged == true)
+            if(ntripClientSettingsHaveChanged == true)
             {
-                settingsChanged = false;
+                ntripClientSettingsHaveChanged = false;
                 ntripClientRestart();
             }
             // Check for timeout receiving NTRIP data