Expand state machine to handle buttons. Move delay into static displays. Increase maxWait during config. Exit fixed mode in rover config.

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -11,6 +11,13 @@ bool configureUbloxModuleBase()
 
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
+  if (i2cGNSS.getSurveyInActive() == true)
+  {
+    response = i2cGNSS.disableSurveyMode(maxWait); //Disable survey
+    if (response == false)
+      Serial.println(F("Disable Survey failed"));
+  }
+
   //In base mode we force 1Hz
   if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
     response &= i2cGNSS.setNavigationFrequency(1, maxWait);
@@ -52,7 +59,7 @@ bool configureUbloxModuleBase()
 
 //Start survey
 //The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
-bool surveyIn()
+bool beginSurveyIn()
 {
   bool needSurveyReset = false;
   if (i2cGNSS.getSurveyInActive() == true) needSurveyReset = true;
@@ -103,6 +110,7 @@ bool resetSurvey()
 bool startFixedBase()
 {
   bool response = false;
+  int maxWait = 2000;
 
   if (settings.fixedBaseCoordinateType == COORD_TYPE_ECEF)
   {
@@ -123,7 +131,8 @@ bool startFixedBase()
     //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
     response = i2cGNSS.setStaticPosition(majorEcefX, minorEcefX,
                                          majorEcefY, minorEcefY,
-                                         majorEcefZ, minorEcefZ
+                                         majorEcefZ, minorEcefZ,
+                                         maxWait
                                         ); //With high precision 0.1mm parts
   }
   else if (settings.fixedBaseCoordinateType == COORD_TYPE_GEOGRAPHIC)
@@ -153,12 +162,8 @@ bool startFixedBase()
                  majorLat, minorLat,
                  majorLong, minorLong,
                  majorAlt, minorAlt,
-                 true);
-  }
-
-  if (response == true)
-  {
-    Serial.println(F("Static Base Started Successfully"));
+                 true, //Use lat/long as input
+                 maxWait);
   }
 
   return (response);

Firmware/RTK_Surveyor/Buttons.ino

@@ -1,95 +1,22 @@
-//Regularly update subsystems. Called from main loop (aka not tasks).
-
 //Change between Rover or Base depending on switch state
 void checkSetupButton()
 {
   //Check rover switch and configure module accordingly
   //When switch is set to '1' = BASE, pin will be shorted to ground
   if (digitalRead(baseSwitch) == LOW) //Switch is set to base mode
   {
-    if (systemState == STATE_ROVER_NO_FIX ||
-        systemState == STATE_ROVER_FIX ||
-        systemState == STATE_ROVER_RTK_FLOAT ||
-        systemState == STATE_ROVER_RTK_FIX)
+    if (buttonPreviousState == BUTTON_ROVER)
     {
-      displayBaseStart();
-
-      //Configure for base mode
-      Serial.println(F("Base Mode"));
-
-      //Restart Bluetooth with 'Base' name
-      //We start BT regardless of Ntrip Server in case user wants to transmit survey-in stats over BT
-      beginBluetooth();
-
-      if (settings.fixedBase == false)
-      {
-        //Don't configure base if we are going to do a survey in. We need to wait for surveyInStartingAccuracy to be achieved in state machine
-        changeState(STATE_BASE_TEMP_SURVEY_NOT_STARTED);
-      }
-      else if (settings.fixedBase == true)
-      {
-        if (configureUbloxModuleBase() == false)
-        {
-          Serial.println(F("Base config failed!"));
-          displayBaseFail();
-          delay(1000);
-          return;
-        }
-
-        bool response = startFixedBase();
-        if (response == true)
-        {
-          changeState(STATE_BASE_FIXED_TRANSMITTING);
-        }
-        else
-        {
-          Serial.println(F("Fixed base start failed"));
-          displayBaseFail();
-          delay(1000);
-          return;
-        }
-      }
-
-      digitalWrite(baseStatusLED, HIGH);
-      displayBaseSuccess();
-      delay(500);
+      buttonPreviousState = BUTTON_BASE;
+      changeState(STATE_BASE_NOT_STARTED);
     }
   }
   else if (digitalRead(baseSwitch) == HIGH) //Switch is set to Rover
   {
-    if (systemState == STATE_BASE_TEMP_SURVEY_NOT_STARTED ||
-        systemState == STATE_BASE_TEMP_SURVEY_STARTED ||
-        systemState == STATE_BASE_TEMP_TRANSMITTING ||
-        systemState == STATE_BASE_TEMP_WIFI_STARTED ||
-        systemState == STATE_BASE_TEMP_WIFI_CONNECTED ||
-        systemState == STATE_BASE_TEMP_CASTER_STARTED ||
-        systemState == STATE_BASE_TEMP_CASTER_CONNECTED ||
-        systemState == STATE_BASE_FIXED_TRANSMITTING ||
-        systemState == STATE_BASE_FIXED_WIFI_STARTED ||
-        systemState == STATE_BASE_FIXED_WIFI_CONNECTED ||
-        systemState == STATE_BASE_FIXED_CASTER_STARTED ||
-        systemState == STATE_BASE_FIXED_CASTER_CONNECTED)
+    if (buttonPreviousState == BUTTON_BASE)
     {
-      displayRoverStart();
-
-      //Configure for rover mode
-      Serial.println(F("Rover Mode"));
-
-      //If we are survey'd in, but switch is rover then disable survey
-      if (configureUbloxModuleRover() == false)
-      {
-        Serial.println(F("Rover config failed!"));
-        displayRoverFail();
-        return;
-      }
-
-      beginBluetooth(); //Restart Bluetooth with 'Rover' name
-
-      changeState(STATE_ROVER_NO_FIX);
-
-      digitalWrite(baseStatusLED, LOW);
-      displayRoverSuccess();
-      delay(500);
+      buttonPreviousState = BUTTON_ROVER;
+      changeState(STATE_ROVER_NOT_STARTED);
     }
   }
 }

Firmware/RTK_Surveyor/Display.ino

@@ -12,6 +12,9 @@ void updateDisplay()
 
       switch (systemState)
       {
+        case (STATE_ROVER_NOT_STARTED):
+          //Do nothing. Static display shown during state change.
+          break;
         case (STATE_ROVER_NO_FIX):
           paintRoverNoFix();
           break;
@@ -24,8 +27,11 @@ void updateDisplay()
         case (STATE_ROVER_RTK_FIX):
           paintRoverRTKFix();
           break;
-        case (STATE_BASE_TEMP_SURVEY_NOT_STARTED):
-          paintBaseTempSurveyNotStarted();
+        case (STATE_BASE_NOT_STARTED):
+          //Do nothing. Static display shown during state change.
+          break;
+        case (STATE_BASE_TEMP_SETTLE):
+          paintBaseTempSettle();
           break;
         case (STATE_BASE_TEMP_SURVEY_STARTED):
           paintBaseTempSurveyStarted();
@@ -45,6 +51,9 @@ void updateDisplay()
         case (STATE_BASE_TEMP_CASTER_CONNECTED):
           paintBaseTempCasterConnected();
           break;
+        case (STATE_BASE_FIXED_NOT_STARTED):
+          //Do nothing. Static display shown during state change.
+          break;
         case (STATE_BASE_FIXED_TRANSMITTING):
           paintBaseFixedTransmitting();
           break;
@@ -212,7 +221,7 @@ void paintHorizontalAccuracy()
   if (online.display == true)
   {
     //Blink crosshair icon until we achieve <5m horz accuracy (user definable)
-    if (systemState == STATE_BASE_TEMP_SURVEY_NOT_STARTED)
+    if (systemState == STATE_BASE_TEMP_SETTLE)
     {
       if (millis() - lastCrosshairIconUpdate > 500)
       {
@@ -292,8 +301,8 @@ void paintBaseState()
     {
       oled.drawIcon(27, 3, Rover_Width, Rover_Height, Rover, sizeof(Rover), true);
     }
-    else if (systemState == STATE_BASE_TEMP_SURVEY_STARTED ||
-             systemState == STATE_BASE_TEMP_SURVEY_NOT_STARTED //Turn on base icon solid (blink crosshair in paintHorzAcc)
+    else if (systemState == STATE_BASE_TEMP_SETTLE ||
+             systemState == STATE_BASE_TEMP_SURVEY_STARTED //Turn on base icon solid (blink crosshair in paintHorzAcc)
             )
     {
       //Blink base icon until survey is complete
@@ -469,7 +478,7 @@ void paintRoverRTKFix()
 //Start of base / survey in / NTRIP mode
 //Screen is displayed while we are waiting for horz accuracy to drop to appropriate level
 //Blink crosshair icon until we have we have horz accuracy < user defined level
-void paintBaseTempSurveyNotStarted()
+void paintBaseTempSettle()
 {
   if (online.display == true)
   {
@@ -861,7 +870,7 @@ void paintBaseFixedCasterConnected()
 //  oled.print("Base Fail Please    Reset");
 //}
 
-void displayBaseStart()
+void displayBaseStart(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -877,10 +886,12 @@ void displayBaseStart()
     printTextwithKerning((char*)"Base", textX, textY, textKerning);
 
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displayBaseSuccess()
+void displayBaseSuccess(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -902,10 +913,12 @@ void displayBaseSuccess()
 
     printTextwithKerning((char*)"Started", textX, textY, textKerning);
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displayBaseFail()
+void displayBaseFail(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -927,10 +940,12 @@ void displayBaseFail()
 
     printTextwithKerning((char*)"Failed", textX, textY, textKerning);
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displayRoverStart()
+void displayRoverStart(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -946,10 +961,12 @@ void displayRoverStart()
     printTextwithKerning((char*)"Rover", textX, textY, textKerning);
 
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displayRoverSuccess()
+void displayRoverSuccess(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -971,10 +988,12 @@ void displayRoverSuccess()
 
     printTextwithKerning((char*)"Started", textX, textY, textKerning);
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displayRoverFail()
+void displayRoverFail(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -996,6 +1015,8 @@ void displayRoverFail()
 
     printTextwithKerning((char*)"Failed", textX, textY, textKerning);
     oled.display();
+
+    delay(displayTime);
   }
 }
 
@@ -1025,7 +1046,7 @@ void displaySerialConfig()
   }
 }
 
-void displaySurveyStart()
+void displaySurveyStart(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -1041,10 +1062,12 @@ void displaySurveyStart()
     printTextwithKerning((char*)"Survey", textX, textY, textKerning);
 
     oled.display();
+
+    delay(displayTime);
   }
 }
 
-void displaySurveyStarted()
+void displaySurveyStarted(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -1066,23 +1089,13 @@ void displaySurveyStarted()
 
     printTextwithKerning((char*)"Started", textX, textY, textKerning);
     oled.display();
-  }
-}
 
-//Draw a frame at outside edge
-void drawFrame()
-{
-  //Init and draw box at edge to see screen alignment
-  int xMax = 63;
-  int yMax = 47;
-  oled.line(0, 0, xMax, 0); //Top
-  oled.line(0, 0, 0, yMax); //Left
-  oled.line(0, yMax, xMax, yMax); //Bottom
-  oled.line(xMax, 0, xMax, yMax); //Right
+    delay(displayTime);
+  }
 }
 
 //If the SD card is detected but is not formatted correctly, display warning
-void displaySDFail()
+void displaySDFail(uint16_t displayTime)
 {
   if (online.display == true)
   {
@@ -1104,5 +1117,19 @@ void displaySDFail()
 
     printTextwithKerning((char*)"SD Card", textX, textY, textKerning);
     oled.display();
+
+    delay(displayTime);
   }
 }
+
+//Draw a frame at outside edge
+void drawFrame()
+{
+  //Init and draw box at edge to see screen alignment
+  int xMax = 63;
+  int yMax = 47;
+  oled.line(0, 0, xMax, 0); //Top
+  oled.line(0, 0, 0, yMax); //Left
+  oled.line(0, yMax, xMax, yMax); //Bottom
+  oled.line(xMax, 0, xMax, yMax); //Right
+}