Merge branch 'main' of https://github.com/sparkfun/SparkFun_RTK_Firmware

Author: nseidle

Firmware/RTK_Surveyor/AP-Config/index.html

@@ -10,6 +10,12 @@ function ge(e) {
 }
 
 var platformPrefix = "Surveyor";
+var geodeticLat = 40.01;
+var geodeticLon = -105.19;
+var geodeticAlt = 1500.1;
+var ecefX = 100;
+var ecefY = -100;
+var ecefZ = -200;
 
 function parseIncoming(msg) {
     //console.log("incoming message: " + msg);
@@ -92,6 +98,7 @@ function parseIncoming(msg) {
             || id.includes("profile5Name")
             || id.includes("profile6Name")
             || id.includes("profile7Name")
+            || id.includes("radioMAC")
         ) {
             ge(id).innerHTML = val;
         }
@@ -105,6 +112,41 @@ function parseIncoming(msg) {
         else if (id.includes("firmwareUploadStatus")) {
             firmwareUploadStatus(val);
         }
+        else if (id.includes("geodeticLat")) {
+            geodeticLat = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("geodeticLon")) {
+            geodeticLon = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("geodeticAlt")) {
+            geodeticAlt = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("ecefX")) {
+            ecefX = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("ecefY")) {
+            ecefY = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("ecefZ")) {
+            ecefZ = val;
+            ge(id).innerHTML = val;
+        }
+        else if (id.includes("bluetoothRadioType")) {
+            currentBtNumber = val;
+            $("input[name=bluetoothRadioType][value=" + currentBtNumber + "]").prop('checked', true);
+        }
+        else if (id.includes("espnowPeerCount")) {
+            if(val > 0)
+                ge("peerMACs").innerHTML = "";
+        }
+        else if (id.includes("peerMAC")) {
+            ge("peerMACs").innerHTML += val + "<br>";
+        }
 
         //Check boxes / radio buttons
         else if (val == "true") {
@@ -134,6 +176,7 @@ function parseIncoming(msg) {
     //console.log("Settings loaded");
 
     ge("profileChangeMessage").innerHTML = '';
+    ge("resetProfileMsg").innerHTML = '';
 
     //Force element updates
     ge("measurementRateHz").dispatchEvent(new CustomEvent('change'));
@@ -147,6 +190,7 @@ function parseIncoming(msg) {
     ge("dataPortChannel").dispatchEvent(new CustomEvent('change'));
     ge("enableExternalPulse").dispatchEvent(new CustomEvent('change'));
     ge("enablePointPerfectCorrections").dispatchEvent(new CustomEvent('change'));
+    ge("radioType").dispatchEvent(new CustomEvent('change'));
 }
 
 function hide(id) {
@@ -215,6 +259,7 @@ function validateFields() {
     collapseSection("collapseSensorConfig", "sensorCaret");
     collapseSection("collapsePPConfig", "pointPerfectCaret");
     collapseSection("collapsePortsConfig", "portsCaret");
+    collapseSection("collapseRadioConfig", "radioCaret");
     collapseSection("collapseSystemConfig", "systemCaret");
 
     errorCount = 0;
@@ -350,6 +395,8 @@ function validateFields() {
             clearElement("fixedLat", 40.09029479);
             clearElement("fixedLong", -105.18505761);
             clearElement("fixedAltitude", 1560.089);
+            clearElement("antennaHeight", 0);
+            clearElement("antennaReferencePoint", 0);
         }
         else {
             clearElement("observationSeconds", 60);
@@ -372,6 +419,9 @@ function validateFields() {
                 checkElementValue("fixedLat", -180, 180, "Must be -180 to 180", "collapseBaseConfig");
                 checkElementValue("fixedLong", -180, 180, "Must be -180 to 180", "collapseBaseConfig");
                 checkElementValue("fixedAltitude", -11034, 8849, "Must be -11034 to 8849", "collapseBaseConfig");
+
+                checkElementValue("antennaHeight", -15000, 15000, "Must be -15000 to 15000", "collapseBaseConfig");
+                checkElementValue("antennaReferencePoint", -200.0, 200.0, "Must be -200.0 to 200.0", "collapseBaseConfig");
             }
         }
 
@@ -553,7 +603,7 @@ function clearElement(id, value) {
 }
 
 function resetToFactoryDefaults() {
-    ge("factoryDefaultsMsg").innerHTML = "Defaults Applied. Please wait for device reset..."
+    ge("factoryDefaultsMsg").innerHTML = "Defaults Applied. Please wait for device reset...";
     ws.send("factoryDefaultReset,1,");
 }
 
@@ -669,6 +719,16 @@ function resetToLoggingDefaults() {
     ge("UBX_RXM_RAWX").value = 1;
     ge("UBX_RXM_SFRBX").value = 1;
 }
+function useECEFCoordinates() {
+    ge("fixedEcefX").value = ecefX;
+    ge("fixedEcefY").value = ecefY;
+    ge("fixedEcefZ").value = ecefZ;
+}
+function useGeodeticCoordinates() {
+    ge("fixedLat").value = geodeticLat;
+    ge("fixedLong").value = geodeticLon;
+    ge("fixedAltitude").value = geodeticAlt;
+}
 
 function exitConfig() {
     show("exitPage");
@@ -689,6 +749,17 @@ function firmwareUploadComplete() {
     hide("mainPage");
 }
 
+function forgetPairedRadios() {
+    ge("btnForgetRadiosMsg").innerHTML = "All radios forgotten.";
+    ge("peerMACs").innerHTML = "None";
+    ws.send("forgetEspNowPeers,1,");
+}
+
+function btnResetProfile() {
+    ge("resetProfileMsg").innerHTML = "Resetting profile.";
+    ws.send("resetProfile,1,");
+}
+
 document.addEventListener("DOMContentLoaded", (event) => {
 
     var radios = document.querySelectorAll('input[name=profileRadio]');
@@ -812,6 +883,24 @@ document.addEventListener("DOMContentLoaded", (event) => {
         }
     });
 
+    ge("radioType").addEventListener("change", function () {
+        if (ge("radioType").value == 0) {
+            hide("radioDetails");
+        }
+        else if (ge("radioType").value == 1){
+            show("radioDetails");
+        }
+    });
+
+    ge("enableForgetRadios").addEventListener("change", function () {
+        if (ge("enableForgetRadios").checked) {
+            ge("btnForgetRadios").disabled = false;
+        }
+        else {
+            ge("btnForgetRadios").disabled = true;
+        }
+    });
+
     ge("enableLogging").addEventListener("change", function () {
         if (ge("enableLogging").checked) {
             show("enableLoggingDetails");
@@ -820,5 +909,4 @@ document.addEventListener("DOMContentLoaded", (event) => {
             hide("enableLoggingDetails");
         }
     });
-
 })

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

@@ -113,7 +113,7 @@ bool beginSurveyIn()
     return (false);
   }
 
-  Serial.printf("Survey started. This will run until %d seconds have passed and less than %0.03f meter accuracy is achieved.\n\r",
+  Serial.printf("Survey started. This will run until %d seconds have passed and less than %0.03f meter accuracy is achieved.\r\n",
                 settings.observationSeconds,
                 settings.observationPositionAccuracy
                );
@@ -173,9 +173,9 @@ bool startFixedBase()
     long majorEcefZ = floor((settings.fixedEcefZ * 100) + 0.5);
     long minorEcefZ = floor((((settings.fixedEcefZ * 100.0) - majorEcefZ) * 100.0) + 0.5);
 
-    //    Serial.printf("fixedEcefY (should be -4716808.5807): %0.04f\n\r", settings.fixedEcefY);
-    //    Serial.printf("major (should be -471680858): %ld\n\r", majorEcefY);
-    //    Serial.printf("minor (should be -7): %ld\n\r", minorEcefY);
+    //    Serial.printf("fixedEcefY (should be -4716808.5807): %0.04f\r\n", settings.fixedEcefY);
+    //    Serial.printf("major (should be -471680858): %ld\r\n", majorEcefY);
+    //    Serial.printf("minor (should be -7): %ld\r\n", minorEcefY);
 
     //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
     //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
@@ -188,26 +188,31 @@ bool startFixedBase()
   }
   else if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
   {
+    //Add height of instrument (HI) to fixed altitude
+    //https://www.e-education.psu.edu/geog862/node/1853
+    //For example, if HAE is at 100.0m, + 2m stick + 73mm ARP = 102.073
+    float totalFixedAltitude = settings.fixedAltitude + (settings.antennaHeight / 1000.0) + (settings.antennaReferencePoint / 1000.0);
+    
     //Break coordinates into main and high precision parts
     //The type casting should not effect rounding of original double cast coordinate
     int64_t majorLat = settings.fixedLat * 10000000;
     int64_t minorLat = ((settings.fixedLat * 10000000) - majorLat) * 100;
     int64_t majorLong = settings.fixedLong * 10000000;
     int64_t minorLong = ((settings.fixedLong * 10000000) - majorLong) * 100;
-    int32_t majorAlt = settings.fixedAltitude * 100;
-    int32_t minorAlt = ((settings.fixedAltitude * 100) - majorAlt) * 100;
+    int32_t majorAlt = totalFixedAltitude * 100;
+    int32_t minorAlt = ((totalFixedAltitude * 100) - majorAlt) * 100;
 
-    //    Serial.printf("fixedLong (should be -105.184774720): %0.09f\n\r", settings.fixedLong);
-    //    Serial.printf("major (should be -1051847747): %lld\n\r", majorLat);
-    //    Serial.printf("minor (should be -20): %lld\n\r", minorLat);
+    //    Serial.printf("fixedLong (should be -105.184774720): %0.09f\r\n", settings.fixedLong);
+    //    Serial.printf("major (should be -1051847747): %lld\r\n", majorLat);
+    //    Serial.printf("minor (should be -20): %lld\r\n", minorLat);
     //
-    //    Serial.printf("fixedLat (should be 40.090335429): %0.09f\n\r", settings.fixedLat);
-    //    Serial.printf("major (should be 400903354): %lld\n\r", majorLong);
-    //    Serial.printf("minor (should be 29): %lld\n\r", minorLong);
+    //    Serial.printf("fixedLat (should be 40.090335429): %0.09f\r\n", settings.fixedLat);
+    //    Serial.printf("major (should be 400903354): %lld\r\n", majorLong);
+    //    Serial.printf("minor (should be 29): %lld\r\n", minorLong);
     //
-    //    Serial.printf("fixedAlt (should be 1560.2284): %0.04f\n\r", settings.fixedAltitude);
-    //    Serial.printf("major (should be 156022): %ld\n\r", majorAlt);
-    //    Serial.printf("minor (should be 84): %ld\n\r", minorAlt);
+    //    Serial.printf("fixedAlt (should be 1560.2284): %0.04f\r\n", settings.fixedAltitude);
+    //    Serial.printf("major (should be 156022): %ld\r\n", majorAlt);
+    //    Serial.printf("minor (should be 84): %ld\r\n", minorAlt);
 
     response = i2cGNSS.setStaticPosition(
                  majorLat, minorLat,
@@ -230,13 +235,9 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
   {
     if (rtcmPacketsSent > 99) rtcmPacketsSent = 1; //Trim to two digits to avoid overlap
   }
-  else if (logIncreasing == true)
-  {
-    if (rtcmPacketsSent > 999) rtcmPacketsSent = 1; //Trim to three digits to avoid log icon
-  }
   else
   {
-    if (rtcmPacketsSent > 9999) rtcmPacketsSent = 1;
+    if (rtcmPacketsSent > 999) rtcmPacketsSent = 1; //Trim to three digits to avoid log icon and increasing bar
   }
 
   //Determine if we should check this byte with the RTCM checker or simply pass it along

Firmware/RTK_Surveyor/Base.ino

@@ -148,17 +148,29 @@ void beginBoard()
   btMACAddress[5] += 2; //Convert MAC address to Bluetooth MAC (add 2): https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/system.html#mac-address
 
   //For all boards, check reset reason. If reset was due to wdt or panic, append last log
-  loadSettingsPartial(); //Get resetCount
+  loadSettingsPartial(); //Loads settings from LFS
   if (esp_reset_reason() == ESP_RST_POWERON)
   {
     reuseLastLog = false; //Start new log
+
+    if (settings.enableResetDisplay == true)
+    {
+      settings.resetCount = 0;
+      recordSystemSettingsToFileLFS(settingsFileName); //Avoid overwriting LittleFS settings onto SD
+    }
     settings.resetCount = 0;
   }
   else
   {
     reuseLastLog = true; //Attempt to reuse previous log
-    settings.resetCount++;
 
+    if (settings.enableResetDisplay == true)
+    {
+      settings.resetCount++;
+      Serial.printf("resetCount: %d\r\n", settings.resetCount);
+      recordSystemSettingsToFileLFS(settingsFileName); //Avoid overwriting LittleFS settings onto SD
+    }
+    
     Serial.print("Reset reason: ");
     switch (esp_reset_reason())
     {
@@ -175,8 +187,6 @@ void beginBoard()
       default : Serial.println("Unknown");
     }
   }
-
-  recordSystemSettings(); //Record resetCount to NVM
 }
 
 void beginSD()
@@ -445,7 +455,7 @@ void beginGNSS()
       zedFirmwareVersionInt = 132;
     else
     {
-      Serial.printf("Unknown firmware version: %s\n\r", zedFirmwareVersion);
+      Serial.printf("Unknown firmware version: %s\r\n", zedFirmwareVersion);
       zedFirmwareVersionInt = 99; //0.99 invalid firmware version
     }
 
@@ -456,7 +466,7 @@ void beginGNSS()
       zedModuleType = PLATFORM_F9R;
     else
     {
-      Serial.printf("Unknown ZED module: %s\n\r", i2cGNSS.minfo.extension[3]);
+      Serial.printf("Unknown ZED module: %s\r\n", i2cGNSS.minfo.extension[3]);
       zedModuleType = PLATFORM_F9P;
     }
 

Firmware/RTK_Surveyor/Begin.ino

@@ -27,7 +27,7 @@ Bluetooth States:
 // Locals - compiled out
 //----------------------------------------
 
-#ifdef  COMPILE_BT
+#ifdef COMPILE_BT
 BTSerialInterface *bluetoothSerial;
 static volatile byte bluetoothState = BT_OFF;