Add support for constellation configuration (NVM, menu, etc)

Author: nseidle

Firmware/RTK_Surveyor/NVM.ino

@@ -48,7 +48,7 @@ void recordSystemSettings()
   if (settings.sizeOfSettings > EEPROM_SIZE)
   {
     displayError((char*)"EEPROM");
-    
+
     while (1) //Hard freeze
     {
       Serial.printf("Size of settings is %d bytes\n\r", sizeof(settings));
@@ -119,7 +119,6 @@ void recordSystemSettingsToFile()
 
       settingsFile.println("dataPortBaud=" + (String)settings.dataPortBaud);
       settingsFile.println("radioPortBaud=" + (String)settings.radioPortBaud);
-      settingsFile.println("enableSBAS=" + (String)settings.enableSBAS);
       settingsFile.println("enableNtripServer=" + (String)settings.enableNtripServer);
       settingsFile.println("casterHost=" + (String)settings.casterHost);
       settingsFile.println("casterPort=" + (String)settings.casterPort);
@@ -141,6 +140,14 @@ void recordSystemSettingsToFile()
       settingsFile.println("lastState=" + (String)settings.lastState);
       settingsFile.println("throttleDuringSPPCongestion=" + (String)settings.throttleDuringSPPCongestion);
 
+      //Record constellation settings
+      for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
+      {
+        char tempString[50]; //constellation.BeiDou=1
+        sprintf(tempString, "constellation.%s=%d", ubxConstellations[x].textName, ubxConstellations[x].enabled);
+        settingsFile.println(tempString);
+      }
+
       //Record message settings
       for (int x = 0 ; x < MAX_UBX_MSG ; x++)
       {
@@ -350,8 +357,6 @@ bool parseLine(char* str) {
     settings.dataPortBaud = d;
   else if (strcmp(settingName, "radioPortBaud") == 0)
     settings.radioPortBaud = d;
-  else if (strcmp(settingName, "enableSBAS") == 0)
-    settings.enableSBAS = d;
   else if (strcmp(settingName, "enableNtripServer") == 0)
     settings.enableNtripServer = d;
   else if (strcmp(settingName, "casterHost") == 0)
@@ -395,23 +400,43 @@ bool parseLine(char* str) {
   else if (strcmp(settingName, "throttleDuringSPPCongestion") == 0)
     settings.throttleDuringSPPCongestion = d;
 
-  //Check for message rates
+  //Check for bulk settings (constellations and message rates)
   //Must be last on else list
   else
   {
     bool knownSetting = false;
 
-    //Scan for message settings
-    for (int x = 0 ; x < MAX_UBX_MSG ; x++)
+    //Scan for constellation settings
+    if (knownSetting == false)
     {
-      char tempString[50]; //message.nmea_dtm.msgRate=5
-      sprintf(tempString, "message.%s.msgRate", ubxMessages[x].msgTextName);
+      for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
+      {
+        char tempString[50]; //constellation.GPS=1
+        sprintf(tempString, "constellation.%s", ubxConstellations[x].textName);
 
-      if (strcmp(settingName, tempString) == 0)
+        if (strcmp(settingName, tempString) == 0)
+        {
+          ubxConstellations[x].enabled = d;
+          knownSetting = true;
+          break;
+        }
+      }
+    }
+
+    //Scan for message settings
+    if (knownSetting == false)
+    {
+      for (int x = 0 ; x < MAX_UBX_MSG ; x++)
       {
-        ubxMessages[x].msgRate = d;
-        knownSetting = true;
-        break;
+        char tempString[50]; //message.nmea_dtm.msgRate=5
+        sprintf(tempString, "message.%s.msgRate", ubxMessages[x].msgTextName);
+
+        if (strcmp(settingName, tempString) == 0)
+        {
+          ubxMessages[x].msgRate = d;
+          knownSetting = true;
+          break;
+        }
       }
     }
 

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -190,7 +190,7 @@ float battChangeRate = 0.0;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 //We use a local copy of the BluetoothSerial library so that we can increase the RX buffer. See issue: https://github.com/sparkfun/SparkFun_RTK_Surveyor/issues/18
 
-#define COMPILE_BT 1 //Comment out to disable all Bluetooth
+//#define COMPILE_BT 1 //Comment out to disable all Bluetooth
 
 #ifdef COMPILE_BT
 #include "src/BluetoothSerial/BluetoothSerial.h"

Firmware/RTK_Surveyor/Rover.ino

@@ -34,12 +34,6 @@ bool configureUbloxModuleRover()
     Serial.println(F("setNMEASettings failed"));
 
   response = true; //Reset
-  if (settings.enableSBAS == true)
-    response &= setSBAS(true); //Enable SBAS
-  else
-    response &= setSBAS(false); //Disable SBAS. Work around for RTK LED not working in v1.13 firmware.
-  if (response == false)
-    Serial.println(F("Set SBAS failed"));
 
   //The last thing we do is set output rate.
   response = true; //Reset
@@ -90,8 +84,8 @@ bool setNMEASettings()
   return (true);
 }
 
-//Returns true if SBAS is enabled
-bool getSBAS()
+//Returns true if constellation is enabled
+bool getConstellation(uint8_t constellation)
 {
   uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
   ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
@@ -106,16 +100,17 @@ bool getSBAS()
   // Read the current setting. The results will be loaded into customCfg.
   if (i2cGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
   {
-    Serial.println(F("Get SBAS failed"));
+    Serial.println(F("Get Constellation failed"));
     return (false);
   }
 
-  if (customPayload[8 + 8 * 1] & (1 << 0)) return true; //Check if bit 0 is set
+  if (customPayload[8 + 8 * constellation] & (1 << 0)) return true; //Check if bit 0 is set
   return false;
 }
 
-//The u-blox library doesn't directly support SBAS control so let's do it manually
-bool setSBAS(bool enableSBAS)
+//The u-blox library doesn't directly support constellation control so let's do it manually
+//Also allows the enable/disable of any constellation (BeiDou, Galileo, etc)
+bool setConstellation(uint8_t constellation, bool enable)
 {
   uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes
   ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
@@ -130,31 +125,90 @@ bool setSBAS(bool enableSBAS)
   // Read the current setting. The results will be loaded into customCfg.
   if (i2cGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
   {
-    Serial.println(F("Set SBAS failed"));
+    Serial.println(F("Set Constellation failed"));
     return (false);
   }
 
-  if (enableSBAS)
+  if (enable)
   {
-    customPayload[8 + 8 * 1] |= (1 << 0); //Set the enable bit
-    //We must enable the gnssID as well
-    customPayload[8 + 8 * 1 + 2] |= (1 << 0); //Set the enable bit (16) for SBAS L1C/A
+    if (constellation == SFE_UBLOX_GNSS_ID_GPS || constellation == SFE_UBLOX_GNSS_ID_QZSS)
+    {
+      //QZSS must follow GPS
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_GPS) + 4] |= (1 << 0); //Set the enable bit
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_QZSS) + 4] |= (1 << 0); //Set the enable bit
+    }
+    else
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 4] |= (1 << 0); //Set the enable bit
+    }
+
+    //Set sigCfgMask as well
+    if (constellation == SFE_UBLOX_GNSS_ID_GPS || constellation == SFE_UBLOX_GNSS_ID_QZSS)
+    {
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_GPS) + 6] |= 0x11; //Enable GPS L1C/A, and L2C
+
+      //QZSS must follow GPS
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_QZSS) + 6] = 0x11; //Enable QZSS L1C/A, and L2C - Follow u-center
+      //customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_QZSS) + 6] = 0x15; //Enable QZSS L1C/A, L1S, and L2C
+    }
+    else if (constellation == SFE_UBLOX_GNSS_ID_SBAS)
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 6] |= 0x01; //Enable SBAS L1C/A
+    }
+    else if (constellation == SFE_UBLOX_GNSS_ID_GALILEO)
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 6] |= 0x21; //Enable Galileo E1/E5b
+    }
+    else if (constellation == SFE_UBLOX_GNSS_ID_BEIDOU)
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 6] |= 0x11; //Enable BeiDou B1I/B2I
+    }
+    else if (constellation == SFE_UBLOX_GNSS_ID_GLONASS)
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 6] |= 0x11; //Enable GLONASS L1 and L2
+    }
   }
-  else
+  else //Disable
   {
-    customPayload[8 + 8 * 1] &= ~(1 << 0); //Clear the enable bit
+    //QZSS must follow GPS
+    if (constellation == SFE_UBLOX_GNSS_ID_GPS || constellation == SFE_UBLOX_GNSS_ID_QZSS)
+    {
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_GPS) + 4] &= ~(1 << 0); //Clear the enable bit
+
+      customPayload[locateGNSSID(customPayload, SFE_UBLOX_GNSS_ID_QZSS) + 4] &= ~(1 << 0); //Clear the enable bit
+    }
+    else
+    {
+      customPayload[locateGNSSID(customPayload, constellation) + 4] &= ~(1 << 0); //Clear the enable bit
+    }
+
   }
 
   // Now we write the custom packet back again to change the setting
   if (i2cGNSS.sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
   {
-    Serial.println(F("SBAS setting failed"));
+    Serial.println(F("Constellation setting failed"));
     return (false);
   }
 
   return (true);
 }
 
+//Given a payload, return the location of a given constellation
+//This is needed because IMES is not currently returned in the query packet
+//so QZSS and GLONAS are offset by -8 bytes.
+uint8_t locateGNSSID(uint8_t *customPayload, uint8_t constellation)
+{
+  for (int x = 0 ; x < 7 ; x++) //Assume max of 7 constellations
+  {
+    if (customPayload[4 + 8 * x] == constellation) //Test gnssid
+      return (4 + x * 8);
+  }
+
+  Serial.println(F("locateGNSSID failed"));
+  return (0);
+}
+
 //Turn on the three accuracy LEDs depending on our current HPA (horizontal positional accuracy)
 void updateAccuracyLEDs()
 {

Firmware/RTK_Surveyor/System.ino

@@ -242,6 +242,8 @@ bool configureUbloxModule()
     response &= i2cGNSS.setPortInput(COM_PORT_USB, (COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3)); //Set the USB port to everything
   }
 
+  response &= configureConstellations(); //Enable the constellations the user has set
+
   response &= configureGNSSMessageRates(COM_PORT_UART1, ubxMessages); //Make sure the appropriate messages are enabled
 
   response &= i2cGNSS.setAutoPVT(true, false); //Tell the GPS to "send" each solution, but do not update stale data when accessed