Merge pull request #48 from sparkfun/release_candidate

v1.4

Author: nseidle

Binaries/For_SD_Loading/RTK_Surveyor_Firmware_v14.bin

@@ -65,11 +65,13 @@ bool configureUbloxModuleBase()
 bool beginSurveyIn()
 {
   bool needSurveyReset = false;
-  if (i2cGNSS.getSurveyInActive() == true) needSurveyReset = true;
-  if (i2cGNSS.getSurveyInValid() == true) needSurveyReset = true;
+  if (i2cGNSS.getSurveyInActive(100) == true) needSurveyReset = true;
+  if (i2cGNSS.getSurveyInValid(100) == true) needSurveyReset = true;
 
   if (needSurveyReset == true)
   {
+    Serial.println("Resetting survey");
+
     if (resetSurvey() == false)
     {
       Serial.println(F("Survey reset failed"));
@@ -80,7 +82,7 @@ bool beginSurveyIn()
     }
   }
 
-  bool response = i2cGNSS.enableSurveyMode(settings.observationSeconds, settings.observationPositionAccuracy); //Enable Survey in, with user parameters
+  bool response = i2cGNSS.enableSurveyMode(settings.observationSeconds, settings.observationPositionAccuracy, 5000); //Enable Survey in, with user parameters. Wait up to 5s.
   if (response == false)
   {
     Serial.println(F("Survey start failed"));
@@ -92,6 +94,15 @@ bool beginSurveyIn()
                 settings.observationPositionAccuracy
                );
 
+  //Wait until active becomes true
+  long maxTime = 5000;
+  long startTime = millis();
+  while(i2cGNSS.getSurveyInActive(100) == false)
+  {
+    delay(100);
+    if(millis() - startTime > maxTime) return(false); //Reset of survey failed
+  }
+
   return (true);
 }
 
@@ -105,8 +116,20 @@ bool resetSurvey()
   response &= i2cGNSS.enableSurveyMode(1000, 400.000, maxWait); //Enable Survey in with bogus values
   delay(1000);
   response &= i2cGNSS.disableSurveyMode(maxWait); //Disable survey
-  delay(1000);
-  return (response);
+
+  if(response == false)
+    return(response);
+
+  //Wait until active and valid becomes false
+  long maxTime = 5000;
+  long startTime = millis();
+  while(i2cGNSS.getSurveyInActive(100) == true || i2cGNSS.getSurveyInValid(100) == true)
+  {
+    delay(100);
+    if(millis() - startTime > maxTime) return(false); //Reset of survey failed
+  }
+
+  return(true);
 }
 
 //Start the base using fixed coordinates
@@ -126,9 +149,9 @@ 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\n\r", settings.fixedEcefY);
+    //    Serial.printf("major (should be -471680858): %ld\n\r", majorEcefY);
+    //    Serial.printf("minor (should be -7): %ld\n\r", 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...
@@ -196,10 +219,12 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
     if (rtcmPacketsSent > 9999) rtcmPacketsSent = 1;
   }
 
+#ifdef COMPILE_WIFI
   if (caster.connected() == true)
   {
     caster.write(incoming); //Send this byte to socket
     casterBytesSent++;
     lastServerSent_ms = millis();
   }
+#endif
 }

Binaries/RTK_Surveyor_Firmware_v14_combined.bin

@@ -4,14 +4,19 @@
 //Must be called after Wire.begin so that we can do I2C tests
 void beginBoard()
 {
-  productVariant = RTK_SURVEYOR;
-  if (isConnected(0x19) == true) //Check for accelerometer
+  //Use ADC to check 50% resistor divider
+  int pin_adc_rtk_facet = 35;
+  if (analogReadMilliVolts(pin_adc_rtk_facet) > (3300 / 2 * 0.9) && analogReadMilliVolts(pin_adc_rtk_facet) < (3300 / 2 * 1.1))
+  {
+    productVariant = RTK_FACET;
+  }
+  else if (isConnected(0x19) == true) //Check for accelerometer
   {
     productVariant = RTK_EXPRESS;
   }
-  else if (analogRead(35) > 400 && analogRead(35) < 600)
+  else
   {
-    productVariant = RTK_FACET;
+    productVariant = RTK_SURVEYOR;
   }
 
   //Setup hardware pins
@@ -61,7 +66,7 @@ void beginBoard()
   }
   else if (productVariant == RTK_FACET)
   {
-    //v10
+    //v11
     pin_muxA = 2;
     pin_muxB = 0;
     pin_powerSenseAndControl = 13;
@@ -79,17 +84,20 @@ void beginBoard()
       powerOnCheck(); //Only do check if we POR start
     }
 
+    pinMode(pin_peripheralPowerControl, OUTPUT);
     digitalWrite(pin_peripheralPowerControl, HIGH); //Turn on SD, ZED, etc
 
     setMuxport(settings.dataPortChannel); //Set mux to user's choice: NMEA, I2C, PPS, or DAC
 
+    delay(1000);
+
     strcpy(platformFilePrefix, "SFE_Facet");
     strcpy(platformPrefix, "Facet");
   }
 
   Serial.printf("SparkFun RTK %s v%d.%d-%s\r\n", platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
 
-  //For all boards, check reset reason. If reset was do to wdt or panic, append last log
+  //For all boards, check reset reason. If reset was due to wdt or panic, append last log
   if (esp_reset_reason() == ESP_RST_POWERON)
   {
     reuseLastLog = false; //Start new log
@@ -240,22 +248,33 @@ void beginGNSS()
   i2cGNSS.i2cTransactionSize = 128;
 
   //Check the firmware version of the ZED-F9P. Based on Example21_ModuleInfo.
-  //  if (i2cGNSS.getModuleInfo(1100) == true) // Try to get the module info
-  //  {
-  //    if (strcmp(i2cGNSS.minfo.extension[1], latestZEDFirmware) != 0)
-  //    {
-  //      Serial.print(F("The ZED-F9P appears to have outdated firmware. Found: "));
-  //      Serial.println(i2cGNSS.minfo.extension[1]);
-  //      Serial.print(F("The Surveyor works best with "));
-  //      Serial.println(latestZEDFirmware);
-  //      Serial.print(F("Please upgrade using u-center."));
-  //      Serial.println();
-  //    }
-  //    else
-  //    {
-  //      Serial.println(F("ZED-F9P firmware is current"));
-  //    }
-  //  }
+  if (i2cGNSS.getModuleInfo(1100) == true) // Try to get the module info
+  {
+    strcpy(zedFirmwareVersion, i2cGNSS.minfo.extension[1]);
+
+    //i2cGNSS.minfo.extension[1] looks like 'FWVER=HPG 1.12'
+    //Replace = with - to avoid NVM parsing issues
+    char *ptr = strchr(zedFirmwareVersion, '=');
+    if (ptr != NULL)
+      zedFirmwareVersion[ptr - zedFirmwareVersion] = ':';
+
+    Serial.print(F("ZED-F9P firmware: "));
+    Serial.println(zedFirmwareVersion);
+
+    //    if (strcmp(i2cGNSS.minfo.extension[1], latestZEDFirmware) != 0)
+    //    {
+    //      Serial.print(F("The ZED-F9P appears to have outdated firmware. Found: "));
+    //      Serial.println(i2cGNSS.minfo.extension[1]);
+    //      Serial.print(F("The Surveyor works best with "));
+    //      Serial.println(latestZEDFirmware);
+    //      Serial.print(F("Please upgrade using u-center."));
+    //      Serial.println();
+    //    }
+    //    else
+    //    {
+    //      Serial.println(F("ZED-F9P firmware is current"));
+    //    }
+  }
 
   bool response = configureUbloxModule();
   if (response == false)
@@ -268,6 +287,7 @@ void beginGNSS()
     if (response == false)
     {
       Serial.println(F("Failed to configure module. Hard stop."));
+      displayGNSSFail(0);
       blinkError(ERROR_GPS_CONFIG_FAIL);
     }
   }
@@ -342,3 +362,25 @@ void beginAccelerometer()
 
   online.accelerometer = true;
 }
+
+//Depending on platform and previous power down state, set system state
+void beginSystemState()
+{
+  if (productVariant == RTK_SURVEYOR)
+  {
+    //Assume Rover. checkButtons() will correct as needed.
+    systemState = STATE_ROVER_NOT_STARTED;
+    buttonPreviousState = BUTTON_BASE;
+  }
+  if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS)
+  {
+    systemState = settings.lastState; //Return to system state previous to power down.
+
+    if (systemState == STATE_ROVER_NOT_STARTED)
+      buttonPreviousState = BUTTON_ROVER;
+    else if (systemState == STATE_BASE_NOT_STARTED)
+      buttonPreviousState = BUTTON_BASE;
+    else
+      buttonPreviousState = BUTTON_ROVER;
+  }
+}

Firmware/RTK_Surveyor/Base.ino

@@ -23,6 +23,17 @@ void checkButtons()
   }
   else if (productVariant == RTK_EXPRESS)
   {
+    //Check to see if user is pressing both buttons simultaneously - show test screen
+    if (digitalRead(pin_powerSenseAndControl) == LOW && digitalRead(pin_setupButton) == LOW)
+    {
+      delay(debounceDelay); //Debounce
+      if (digitalRead(pin_powerSenseAndControl) == LOW && digitalRead(pin_setupButton) == LOW)
+      {
+        displayTest();
+        setupButtonState = BUTTON_RELEASED;
+      }
+    }
+    
     //Check power button
     //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
     if (digitalRead(pin_powerSenseAndControl) == LOW && powerPressedStartTime == 0)
@@ -94,19 +105,6 @@ void checkButtons()
       //Return to unpressed state
       setupButtonState = BUTTON_RELEASED;
     }
-
-    //Check to see if user is pressing both buttons simultaneously - show test screen
-    if (digitalRead(pin_powerSenseAndControl) == LOW && digitalRead(pin_setupButton) == LOW)
-    {
-      delay(debounceDelay); //Debounce
-      if (digitalRead(pin_powerSenseAndControl) == LOW && digitalRead(pin_setupButton) == LOW)
-      {
-        displayTest();
-        setupButtonState = BUTTON_RELEASED;
-        buttonPreviousState = BUTTON_ROVER;
-        changeState(STATE_ROVER_NOT_STARTED);
-      }
-    }
     //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
   }//end productVariant = Express
 

Firmware/RTK_Surveyor/Begin.ino

@@ -52,7 +52,7 @@ void updateDisplay()
           paintBaseTempCasterConnected();
           break;
         case (STATE_BASE_FIXED_NOT_STARTED):
-          //Do nothing. Static display shown during state change.
+          paintBaseFixedNotStarted();
           break;
         case (STATE_BASE_FIXED_TRANSMITTING):
           paintBaseFixedTransmitting();
@@ -69,6 +69,9 @@ void updateDisplay()
         case (STATE_BASE_FIXED_CASTER_CONNECTED):
           paintBaseFixedCasterConnected();
           break;
+        default:
+          displayError((char*)"Display");
+          break;
       }
 
       oled.display(); //Push internal buffer to display
@@ -546,17 +549,14 @@ void paintBaseTempSurveyStarted()
 
     paintBaseState(); //Top center
 
-    float meanAccuracy = i2cGNSS.getSurveyInMeanAccuracy(100);
-    int elapsedTime = i2cGNSS.getSurveyInObservationTime(100);
-
     oled.setFontType(0);
     oled.setCursor(0, 23); //x, y
     oled.print("Mean:");
 
     oled.setCursor(29, 20); //x, y
     oled.setFontType(1);
-    if (meanAccuracy < 10.0) //Error check
-      oled.print(meanAccuracy, 2);
+    if (svinMeanAccuracy < 10.0) //Error check
+      oled.print(svinMeanAccuracy, 2);
     else
       oled.print(">10");
 
@@ -566,8 +566,8 @@ void paintBaseTempSurveyStarted()
 
     oled.setCursor(30, 36); //x, y
     oled.setFontType(1);
-    if (elapsedTime < 1000) //Error check
-      oled.print(elapsedTime);
+    if (svinObservationTime < 1000) //Error check
+      oled.print(svinObservationTime);
     else
       oled.print("0");
 
@@ -738,6 +738,19 @@ void paintBaseTempCasterConnected()
   }
 }
 
+//Show transmission of RTCM packets
+void paintBaseFixedNotStarted()
+{
+  if (online.display == true)
+  {
+    paintBatteryLevel(); //Top right corner
+
+    paintWirelessIcon(); //Top left corner
+
+    paintBaseState(); //Top center
+  }
+}
+
 //Show transmission of RTCM packets
 void paintBaseFixedTransmitting()
 {
@@ -1297,15 +1310,18 @@ void displayTest()
       else
         oled.print(F("FAIL"));
 
+      i2cGNSS.checkUblox();
       oled.setCursor(xOffset, yOffset + (3 * charHeight) ); //x, y
       oled.print(F("GNSS:"));
       int satsInView = i2cGNSS.getSIV();
       if (online.gnss == true && satsInView > 8)
+      {
         oled.print(F("OK"));
+        oled.print(F("/"));
+        oled.print(satsInView);
+      }
       else
         oled.print(F("FAIL"));
-      oled.print(F("/"));
-      oled.print(satsInView);
 
       oled.setCursor(xOffset, yOffset + (4 * charHeight) ); //x, y
       oled.print(F("Mux:"));
@@ -1365,7 +1381,7 @@ void displayTest()
 
     oled.display();
 
-      //Wait for user to stop pressing buttons
+    //Wait for user to stop pressing buttons
     if (productVariant == RTK_EXPRESS)
     {
       while (digitalRead(pin_setupButton) == LOW)
@@ -1377,7 +1393,7 @@ void displayTest()
         delay(10);
     }
 
-    delay(2000); //Big debounce
+    delay(500);
   }
 }