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

Author: nseidle

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

@@ -846,6 +846,8 @@ function useGeodeticCoordinates() {
     ge("fixedLat").value = geodeticLat;
     ge("fixedLong").value = geodeticLon;
     ge("fixedAltitude").value = geodeticAlt;
+    var hae = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000
+    ge("fixedHAE_APC").value = hae.toFixed(3);
 }
 
 function startNewLog() {
@@ -1061,15 +1063,18 @@ document.addEventListener("DOMContentLoaded", (event) => {
     });
 
     ge("fixedAltitude").addEventListener("change", function () {
-        ge("fixedHAE_APC").value = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        var hae = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        ge("fixedHAE_APC").value = hae.toFixed(3);
     });
 
     ge("antennaHeight").addEventListener("change", function () {
-        ge("fixedHAE_APC").value = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        var hae = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        ge("fixedHAE_APC").value = hae.toFixed(3);
     });
 
     ge("antennaReferencePoint").addEventListener("change", function () {
-        ge("fixedHAE_APC").value = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        var hae = Number(ge("fixedAltitude").value) + Number(ge("antennaHeight").value) / 1000 + Number(ge("antennaReferencePoint").value) / 1000;
+        ge("fixedHAE_APC").value = hae.toFixed(3);
     });
 })
 
@@ -1160,19 +1165,21 @@ function addGeodetic() {
     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");
 
     if (errorCount == 0) {
         //Check name against the list
         var index = 0;
         for (; index < recordsGeodetic.length; ++index) {
             var parts = recordsGeodetic[index].split(' ');
             if (ge("nicknameGeodetic").value == parts[0]) {
-                recordsGeodetic[index] = nicknameGeodetic.value + ' ' + fixedLat.value + ' ' + fixedLong.value + ' ' + fixedAltitude.value;
+                recordsGeodetic[index] = nicknameGeodetic.value + ' ' + fixedLat.value + ' ' + fixedLong.value + ' ' + fixedAltitude.value + ' ' + antennaHeight.value + ' ' + antennaReferencePoint.value;
                 break;
             }
         }
         if (index == recordsGeodetic.length)
-            recordsGeodetic.push(nicknameGeodetic.value + ' ' + fixedLat.value + ' ' + fixedLong.value + ' ' + fixedAltitude.value);
+            recordsGeodetic.push(nicknameGeodetic.value + ' ' + fixedLat.value + ' ' + fixedLong.value + ' ' + fixedAltitude.value + ' ' + antennaHeight.value + ' ' + antennaReferencePoint.value);
     }
 
     updateGeodeticList();
@@ -1189,14 +1196,19 @@ function loadGeodetic() {
     var val = ge("StationCoordinatesGeodetic").value;
     if (val > "") {
         var parts = recordsGeodetic[val].split(' ');
+        ge("nicknameGeodetic").value = parts[0];
         ge("fixedLat").value = parts[1];
         ge("fixedLong").value = parts[2];
         ge("fixedAltitude").value = parts[3];
-        ge("nicknameGeodetic").value = parts[0];
+        ge("antennaHeight").value = parts[4];
+        ge("antennaReferencePoint").value = parts[5];
+
+        clearError("nicknameGeodetic");
         clearError("fixedLat");
         clearError("fixedLong");
         clearError("fixedAltitude");
-        clearError("nicknameGeodetic");
+        clearError("antennaHeight");
+        clearError("antennaReferencePoint");
     }
 }
 
@@ -1216,7 +1228,6 @@ function updateGeodeticList() {
     }
 
     for (let index = 0; index < recordsGeodetic.length; ++index) {
-
         var option = document.createElement('option');
         option.text = recordsGeodetic[index];
         option.value = index;
@@ -1284,6 +1295,10 @@ function fileManagerToggle() {
 function fileManagerDelete() {
     selectedFiles = document.querySelectorAll('input[name=fileID]:checked');
 
+    if (confirm("Delete " + selectedFiles.length + " files?") == false) {
+        return;
+    }
+
     for (let x = 0; x < selectedFiles.length; x++) {
         var urltocall = "/file?name=" + selectedFiles[x].id + "&action=delete";
         xmlhttp = new XMLHttpRequest();

Firmware/RTK_Surveyor/Bluetooth.ino

@@ -109,7 +109,11 @@ bool bluetoothRxDataAvailable()
 int bluetoothWrite(const uint8_t *buffer, int length)
 {
 #ifdef COMPILE_BT
-  return bluetoothSerial->write(buffer, length);
+  //BLE write does not handle 0 length requests correctly
+  if(length > 0)
+    return bluetoothSerial->write(buffer, length);
+  else
+    return 0;
 #else   //COMPILE_BT
   return 0;
 #endif  //COMPILE_BT

Firmware/RTK_Surveyor/Form.ino

@@ -165,21 +165,18 @@ void stopWebServer()
 
     if (websocket != NULL)
     {
-      Serial.println("Free websocket");
       delete websocket;
       websocket = NULL;
     }
 
     if (settingsCSV != NULL)
     {
-      Serial.println("Freeing settingsCSV");
       free(settingsCSV);
       settingsCSV = NULL;
     }
 
     if (incomingSettings != NULL)
     {
-      Serial.println("Freeing incomingSettings");
       free(incomingSettings);
       incomingSettings = NULL;
     }
@@ -504,11 +501,13 @@ void createSettingsString(char* newSettings)
   stringRecord(newSettings, "maxLogTime_minutes", settings.maxLogTime_minutes);
   stringRecord(newSettings, "maxLogLength_minutes", settings.maxLogLength_minutes);
 
-  char sdSpace[30];
-  sprintf(sdSpace, "%s", stringHumanReadableSize(sdFreeSpace));
-  stringRecord(newSettings, "sdFreeSpace", sdSpace);
-  sprintf(sdSpace, "%s", stringHumanReadableSize(sdCardSize));
-  stringRecord(newSettings, "sdSize", sdSpace);
+  char sdCardSizeChar[20];
+  stringHumanReadableSize(sdCardSize).toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
+  char sdFreeSpaceChar[20];
+  stringHumanReadableSize(sdFreeSpace).toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
+
+  stringRecord(newSettings, "sdFreeSpace", sdCardSizeChar);
+  stringRecord(newSettings, "sdSize", sdFreeSpaceChar);
 
   stringRecord(newSettings, "enableResetDisplay", settings.enableResetDisplay);
 

Firmware/RTK_Surveyor/NtripClient.ino

@@ -306,19 +306,32 @@ void ntripClientStop(bool wifiClientAllocated)
 #endif  //COMPILE_WIFI
 }
 
-//Check for the arrival of any correction data. Push it to the GNSS.
-//Stop task if the connection has dropped or if we receive no data for maxTimeBeforeHangup_ms
-void ntripClientUpdate()
+//Determine if NTRIP Client is needed
+bool ntripClientIsNeeded()
 {
   if (settings.enableNtripClient == false)
   {
     //If user turns off NTRIP Client via settings, stop server
     if (ntripClientState > NTRIP_CLIENT_OFF)
       ntripClientStop(true);  //Don't allocate new wifiClient
-    return;
+    return(false);
   }
 
-  if (wifiInConfigMode()) return; //Do not service NTRIP during WiFi config
+  if (wifiInConfigMode()) return(false); //Do not service NTRIP during WiFi config
+
+  //Allow NTRIP Client to run during Survey-In,
+  //but do not allow NTRIP Client to run during Base
+  if (systemState == STATE_BASE_TEMP_TRANSMITTING)
+    return(false);
+
+  return(true);
+}
+
+//Check for the arrival of any correction data. Push it to the GNSS.
+//Stop task if the connection has dropped or if we receive no data for maxTimeBeforeHangup_ms
+void ntripClientUpdate()
+{
+  if(ntripClientIsNeeded() == false) return;
 
 #ifdef COMPILE_WIFI
   //Periodically display the NTRIP client state

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -20,7 +20,7 @@
 */
 
 const int FIRMWARE_VERSION_MAJOR = 3;
-const int FIRMWARE_VERSION_MINOR = 0;
+const int FIRMWARE_VERSION_MINOR = 1;
 
 #define COMPILE_WIFI //Comment out to remove WiFi functionality
 #define COMPILE_AP //Requires WiFi. Comment out to remove Access Point functionality
@@ -300,7 +300,7 @@ const int readTaskStackSize = 2000;
 
 TaskHandle_t handleGNSSDataTaskHandle = NULL;
 const uint8_t handleGNSSDataTaskPriority = 1; //3 being the highest, and 0 being the lowest
-const int handleGNSSDataTaskStackSize = 2000;
+const int handleGNSSDataTaskStackSize = 3000;
 
 TaskHandle_t pinUART2TaskHandle = NULL; //Dummy task to start UART2 on core 0.
 volatile bool uart2pinned = false; //This variable is touched by core 0 but checked by core 1. Must be volatile.

Firmware/RTK_Surveyor/States.ino

@@ -234,7 +234,9 @@ void updateSystemState()
 
           displayBaseStart(0); //Show 'Base'
 
-          wifiStop(); //Stop WiFi. Re-enable in each specific base start state.
+          //Allow WiFi to continue running if NTRIP Client is needed for assisted survey in
+          if(wifiIsNeeded() == false)
+            wifiStop();
 
           bluetoothStop();
           bluetoothStart(); //Restart Bluetooth with 'Base' identifier
@@ -328,7 +330,7 @@ void updateSystemState()
             systemPrint("Time elapsed: ");
             systemPrint(svinObservationTime);
             systemPrint(" Accuracy: ");
-            systemPrint(svinMeanAccuracy);
+            systemPrint(svinMeanAccuracy, 3);
             systemPrint(" SIV: ");
             systemPrint(numSV);
             systemPrintln();

Firmware/RTK_Surveyor/Tasks.ino

@@ -115,7 +115,6 @@ void F9PSerialReadTask(void *e)
 {
   static PARSE_STATE parse = {waitForPreamble, processUart1Message, "Log"};
 
-  bool newDataLost = false; //Goes true at the first instance of 0 bytes available
   uint8_t incomingData = 0;
 
   availableHandlerSpace = settings.gnssHandlerBufferSize;
@@ -131,10 +130,6 @@ void F9PSerialReadTask(void *e)
       //Read the data from UART1
       incomingData = serialGNSS.read();
 
-      //For testing: Inject bad data once in awhile
-      //if(random(0,10000) == 1) //0.01% failure rate
-      //  incomingData = 0xAA; //Bogus data
-
       //Save the data byte
       parse.buffer[parse.length++] = incomingData;
       parse.length %= PARSE_BUFFER_LENGTH;
@@ -147,8 +142,6 @@ void F9PSerialReadTask(void *e)
       parse.state(&parse, incomingData);
     }
 
-    //emptyRingBuffer(true); //Empty and record to SD
-
     delay(1);
     taskYIELD();
   }
@@ -223,9 +216,6 @@ void processUart1Message(PARSE_STATE * parse, uint8_t type)
   //Display the dataHead offset
   if (settings.enablePrintRingBufferOffsets && (!inMainMenu))
     systemPrintf("%4d\r\n", dataHead);
-
-  //Start emptying the ring buffer
-  //emptyRingBuffer(false);
 }
 
 //If new data is in the ringBuffer, dole it out to appropriate interface
@@ -281,7 +271,6 @@ void handleGNSSDataTask(void *e)
     //Send data over Bluetooth
     //----------------------------------------------------------------------
 
-    //If we are actively survey-in then do not pass NMEA data from ZED to phone
     if (!btConnected)
       //Discard the data
       btTail = dataHead;
@@ -361,7 +350,7 @@ void handleGNSSDataTask(void *e)
           if (settings.enablePrintSDBuffers && !inMainMenu)
           {
             int availableUARTSpace = settings.uartReceiveBufferSize - serialGNSS.available();
-            systemPrintf("SD Incoming Serial: %04d\tToRead: %04d\tMovedToBuffer: %04d\tavailableUARTSpace: %04d\tavailableHandlerSpace: %04d\tToRecord: %04d\tRecorded: %04d\tBO: %d\n\r", serialGNSS.available(), 0, 0, availableUARTSpace, availableHandlerSpace, sliceToRecord, 0, bufferOverruns);
+            systemPrintf("SD Incoming Serial: %04d\tToRead: %04d\tMovedToBuffer: %04d\tavailableUARTSpace: %04d\tavailableHandlerSpace: %04d\tToRecord: %04d\tRecorded: %04d\tBO: %d\r\n", serialGNSS.available(), 0, 0, availableUARTSpace, availableHandlerSpace, sliceToRecord, 0, bufferOverruns);
           }
 
           //Write the data to the file
@@ -390,7 +379,7 @@ void handleGNSSDataTask(void *e)
           if (settings.enablePrintBufferOverrun)
           {
             if (endTime - startTime > 150)
-              systemPrintf("Long Write! Time: %ld ms / Location: %ld / Recorded %d bytes / spaceRemaining %d bytes\n\r", endTime - startTime, fileSize, sdBytesToRecord, combinedSpaceRemaining);
+              systemPrintf("Long Write! Time: %ld ms / Location: %ld / Recorded %d bytes / spaceRemaining %d bytes\r\n", endTime - startTime, fileSize, sdBytesToRecord, combinedSpaceRemaining);
           }
 
           xSemaphoreGive(sdCardSemaphore);
@@ -949,7 +938,7 @@ void sdSizeCheckTask(void *e)
 
         xSemaphoreGive(sdCardSemaphore);
 
-        uint64_t sdUsedSpace = sdCardSize - sdFreeSpace; //Don't think of it as used, think of it as unusable
+        //uint64_t sdUsedSpace = sdCardSize - sdFreeSpace; //Don't think of it as used, think of it as unusable
 
         systemPrintf("SD card size: %s / Free space: %s\r\n",
                  stringHumanReadableSize(sdCardSize),

Firmware/RTK_Surveyor/WiFi.ino

@@ -46,7 +46,6 @@ static const int MAX_WIFI_CONNECTION_ATTEMPTS = 500;
 //ms - Max of 4,294,967,295 or 4.3M seconds or 71,000 minutes or 1193 hours or 49 days between attempts
 static int wifiConnectionAttempts = 0; //Count the number of connection attempts between restarts
 static uint32_t wifiConnectionAttemptsTotal; //Count the number of connection attempts absolutely
-static uint32_t wifiLastConnectionAttempt = 0;
 static uint32_t wifiConnectionAttemptTimeout = 0;
 
 //----------------------------------------
@@ -55,6 +54,8 @@ static uint32_t wifiConnectionAttemptTimeout = 0;
 
 #ifdef COMPILE_WIFI
 
+static uint32_t wifiLastConnectionAttempt = 0;
+
 //WiFi Timer usage:
 //  * Measure interval to display IP address
 static unsigned long wifiDisplayTimer = 0;
@@ -460,6 +461,13 @@ bool wifiIsNeeded()
      )
     needed = true;
 
+  //If the user has enabled NTRIP Client for an Assisted Survey-In, and Survey-In is running, keep WiFi on.
+  if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_TEMP_SURVEY_STARTED
+      && settings.enableNtripClient == true
+      && settings.fixedBase == false
+     )
+    needed = true;
+
   //If WiFi is on while we are in the following states, allow WiFi to continue to operate
   if (systemState >= STATE_BUBBLE_LEVEL && systemState <= STATE_PROFILE)
   {