Display icon for given dynamic model.

Author: nseidle

Firmware/RTK_Surveyor/Display.ino

@@ -325,42 +325,97 @@ void paintBaseState()
         systemState == STATE_ROVER_RTK_FLOAT ||
         systemState == STATE_ROVER_RTK_FIX)
     {
-      //Normal rover for ZED-F9P, fusion rover for ZED-F9R
-      if (zedModuleType == PLATFORM_F9P)
+      //Display icon associated with current Dynamic Model
+      switch (settings.dynamicModel)
       {
-        oled.drawIcon(27, 3, Rover_Width, Rover_Height, Rover, sizeof(Rover), true);
-      }
-      else if (zedModuleType == PLATFORM_F9R)
-      {
-        //Blink fusion rover until we have calibration
-        if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 0) //Initializing
-        {
-          //Blink Fusion Rover icon until sensor calibration is complete
-          if (millis() - lastBaseIconUpdate > 500)
+        case (DYN_MODEL_PORTABLE):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_1_Portable, sizeof(DynamicModel_1_Portable), true);
+          }
+          break;
+        case (DYN_MODEL_STATIONARY):
           {
-            lastBaseIconUpdate = millis();
-            if (baseIconDisplayed == false)
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_2_Stationary, sizeof(DynamicModel_2_Stationary), true);
+          }
+          break;
+        case (DYN_MODEL_PEDESTRIAN):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_3_Pedestrian, sizeof(DynamicModel_3_Pedestrian), true);
+          }
+          break;
+        case (DYN_MODEL_AUTOMOTIVE):
+          {
+            //Normal rover for ZED-F9P, fusion rover for ZED-F9R
+            if (zedModuleType == PLATFORM_F9P)
             {
-              baseIconDisplayed = true;
-
-              //Draw the icon
-              oled.drawIcon(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion, sizeof(Rover_Fusion), true);
+              oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_4_Automotive, sizeof(DynamicModel_4_Automotive), true);
             }
-            else
-              baseIconDisplayed = false;
+            else if (zedModuleType == PLATFORM_F9R)
+            {
+              //Blink fusion rover until we have calibration
+              if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 0) //Initializing
+              {
+                //Blink Fusion Rover icon until sensor calibration is complete
+                if (millis() - lastBaseIconUpdate > 500)
+                {
+                  lastBaseIconUpdate = millis();
+                  if (baseIconDisplayed == false)
+                  {
+                    baseIconDisplayed = true;
+
+                    //Draw the icon
+                    oled.drawIcon(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion, sizeof(Rover_Fusion), true);
+                  }
+                  else
+                    baseIconDisplayed = false;
+                }
+              }
+              else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 1) //Calibrated
+              {
+                //Solid fusion rover
+                oled.drawIcon(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion, sizeof(Rover_Fusion), true);
+              }
+              else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 2 || i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 3) //Suspended or disabled
+              {
+                //Empty rover
+                oled.drawIcon(27, 2, Rover_Fusion_Empty_Width, Rover_Fusion_Empty_Height, Rover_Fusion_Empty, sizeof(Rover_Fusion_Empty), true);
+              }
+            }
+
           }
-        }
-        else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 1) //Calibrated
-        {
-          //Solid fusion rover
-          oled.drawIcon(27, 2, Rover_Fusion_Width, Rover_Fusion_Height, Rover_Fusion, sizeof(Rover_Fusion), true);
-        }
-        else if (i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 2 || i2cGNSS.packetUBXESFSTATUS->data.fusionMode == 3) //Suspended or disabled
-        {
-          //Empty rover
-          oled.drawIcon(27, 2, Rover_Fusion_Empty_Width, Rover_Fusion_Empty_Height, Rover_Fusion_Empty, sizeof(Rover_Fusion_Empty), true);
-        }
+          break;
+        case (DYN_MODEL_SEA):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_5_Sea, sizeof(DynamicModel_5_Sea), true);
+          }
+          break;
+        case (DYN_MODEL_AIRBORNE1g):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_6_Airborne1g, sizeof(DynamicModel_6_Airborne1g), true);
+          }
+          break;
+        case (DYN_MODEL_AIRBORNE2g):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_7_Airborne2g, sizeof(DynamicModel_7_Airborne2g), true);
+          }
+          break;
+        case (DYN_MODEL_AIRBORNE4g):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_8_Airborne4g, sizeof(DynamicModel_8_Airborne4g), true);
+          }
+          break;
+        case (DYN_MODEL_WRIST):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_9_Wrist, sizeof(DynamicModel_9_Wrist), true);
+          }
+          break;
+        case (DYN_MODEL_BIKE):
+          {
+            oled.drawIcon(27, 0, DynamicModel_Width, DynamicModel_Height, DynamicModel_10_Bike, sizeof(DynamicModel_10_Bike), true);
+          }
+          break;
       }
+
     }
     else if (systemState == STATE_BASE_TEMP_SETTLE ||
              systemState == STATE_BASE_TEMP_SURVEY_STARTED //Turn on base icon solid (blink crosshair in paintHorzAcc)

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -215,7 +215,7 @@ HardwareSerial serialGNSS(2);
 #define RXD2 16
 #define TXD2 17
 
-#define SERIAL_SIZE_RX (1024 * 4) //Should match buffer size in BluetoothSerial.cpp. Reduced from 16384 to make room for WiFi/NTRIP server capabilities
+#define SERIAL_SIZE_RX (1024 * 6) //Should match buffer size in BluetoothSerial.cpp. Reduced from 16384 to make room for WiFi/NTRIP server capabilities
 uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading from F9P to SPP
 TaskHandle_t F9PSerialReadTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 const uint8_t F9PSerialReadTaskPriority = 1; //3 being the highest, and 0 being the lowest

Firmware/RTK_Surveyor/icons.h

@@ -15,12 +15,6 @@ uint8_t WiFi_Symbol [] = {
 int WiFi_Symbol_Height = 9;
 int WiFi_Symbol_Width = 13;
 
-//uint8_t WiFi_Symbol [] = {
-//0x78, 0x04, 0x72, 0x09, 0x65, 0x15, 0xD5, 0xD5, 0x15, 0x65, 0x09, 0x72, 0x04, 0x78, 
-//};
-//int WiFi_Symbol_Height = 8;
-//int WiFi_Symbol_Width = 13;
-
 uint8_t CrossHair [] = {
 0x80, 0x80, 0xF0, 0x88, 0x84, 0x84, 0x84, 0x7F, 0x84, 0x84, 0x84, 0x88, 0xF0, 0x80, 0x80, 0x00,
 0x00, 0x07, 0x08, 0x10, 0x10, 0x10, 0x7F, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00, 0x00, 
@@ -42,12 +36,6 @@ uint8_t SIV_Antenna [] = {
 int SIV_Antenna_Height = 13;
 int SIV_Antenna_Width = 12;
 
-uint8_t Rover [] = {
-0x1E, 0x61, 0x91, 0x91, 0x61, 0x21, 0x21, 0x21, 0x21, 0x21, 0x62, 0x94, 0x94, 0x64, 0x1C, 
-};
-int Rover_Height = 8;
-int Rover_Width = 15;
-
 uint8_t Rover_Fusion [] = {
 0x3E, 0xC1, 0x21, 0x21, 0xC1, 0x7D, 0x55, 0x55, 0x45, 0x41, 0xC2, 0x24, 0x24, 0xC4, 0x3C, 0x00,
 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 
@@ -135,3 +123,56 @@ uint8_t Logging_0 [] = {
 };
 int Logging_0_Height = 12;
 int Logging_0_Width = 9;
+
+int DynamicModel_Height = 12;
+int DynamicModel_Width = 15;
+
+uint8_t DynamicModel_1_Portable [] = {
+0x00, 0x00, 0x00, 0x00, 0xFC, 0x02, 0x1A, 0x1A, 0x1A, 0x02, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x03, 0x04, 0x04, 0x04, 0x04, 0x04, 0x03, 0x00, 0x00, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_2_Stationary [] = {
+0x00, 0x00, 0x00, 0x00, 0x82, 0xC6, 0x6E, 0xFE, 0x6E, 0xC6, 0x82, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x04, 0x06, 0x03, 0x01, 0x00, 0x00, 0x07, 0x00, 0x00, 0x01, 0x03, 0x06, 0x04, 0x00, 
+};
+
+uint8_t DynamicModel_3_Pedestrian [] = {
+0x00, 0x00, 0x00, 0x00, 0x20, 0x32, 0x95, 0xF9, 0x95, 0x32, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x04, 0x06, 0x03, 0x01, 0x00, 0x01, 0x07, 0x04, 0x00, 0x00, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_4_Automotive [] = {
+0x78, 0x84, 0x44, 0x44, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x88, 0x50, 0x50, 0x90, 0x70, 0x00,
+0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00, 
+};
+
+uint8_t DynamicModel_5_Sea [] = {
+0x00, 0x60, 0xE0, 0x3C, 0x26, 0x3C, 0x20, 0x20, 0x20, 0xA0, 0xA0, 0x20, 0xE0, 0x60, 0x00, 0x00,
+0x00, 0x03, 0x06, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x06, 0x03, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_6_Airborne1g [] = {
+0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0x88, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
+0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_7_Airborne2g [] = {
+0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x08, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
+0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_8_Airborne4g [] = {
+0x00, 0xFE, 0x0C, 0xF8, 0x08, 0x28, 0x88, 0xA8, 0x88, 0x28, 0x08, 0x18, 0xB0, 0xE0, 0x00, 0x00,
+0x01, 0x01, 0x01, 0x01, 0x01, 0x07, 0x08, 0x07, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_9_Wrist [] = {
+0x00, 0x00, 0x00, 0x00, 0x70, 0x88, 0x27, 0x27, 0x88, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+};
+
+uint8_t DynamicModel_10_Bike [] = {
+0x00, 0x80, 0x40, 0x50, 0x90, 0xB0, 0xC0, 0xC0, 0xC0, 0xA0, 0x98, 0x4C, 0x4C, 0x80, 0x00, 0x00,
+0x01, 0x02, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00, 
+};