Merge pull request #73 from sparkfun/release_candidate

v19 Release

Author: nseidle

Binaries/For_SD_Loading/RTK_Surveyor_Firmware_v19.bin

@@ -45,7 +45,7 @@ function parseIncoming(msg) {
                 hide("msgUBX_ESF_ALG");
                 hide("msgUBX_ESF_INS");
             }
-            else if (platformPrefix == "Express") {
+            else if (platformPrefix == "Express" || platformPrefix == "Facet") {
                 hide("sensorConfig"); //Hide Sensor Config section
 
                 hide("msgUBX_ESF_MEAS"); //Hide unsupported messages

Binaries/RTK_Surveyor_Firmware_v19_combined.bin

@@ -164,7 +164,7 @@ void beginSD()
     if (sd.begin(SdSpiConfig(pin_microSD_CS, SHARED_SPI, SD_SCK_MHZ(settings.spiFrequency))) == false)
     {
       int tries = 0;
-      int maxTries = 2;
+      int maxTries = 1;
       for ( ; tries < maxTries ; tries++)
       {
         Serial.printf("SD init failed. Trying again %d out of %d\n\r", tries + 1, maxTries);
@@ -447,6 +447,9 @@ void beginAccelerometer()
   if (accel.begin() == false)
   {
     online.accelerometer = false;
+
+    displayAccelFail(1000);
+
     return;
   }
 
@@ -478,6 +481,8 @@ void beginSystemState()
   else if (productVariant == RTK_FACET)
   {
     systemState = settings.lastState; //Return to system state previous to power down.
+    if (systemState == STATE_ROVER_NOT_STARTED)
+      firstRoverStart = true; //Allow user to enter test screen during first rover start
 
     powerBtn = new Button(pin_powerSenseAndControl); //Create the button in memory
   }

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

@@ -1,6 +1,6 @@
 //User has pressed the power button to turn on the system
 //Was it an accidental bump or do they really want to turn on?
-//Let's make sure they continue to press for two seconds
+//Let's make sure they continue to press for 500ms
 void powerOnCheck()
 {
 #ifdef ENABLE_DEVELOPER
@@ -10,7 +10,7 @@ void powerOnCheck()
   powerPressedStartTime = millis();
   while (digitalRead(pin_powerSenseAndControl) == LOW)
   {
-    delay(100); //Wait for user to stop pressing button.
+    delay(10);
 
     if (millis() - powerPressedStartTime > 500)
       break;

Firmware/RTK_Surveyor/Begin.ino

@@ -1170,6 +1170,24 @@ void displayRoverFail(uint16_t displayTime)
   }
 }
 
+void displayAccelFail(uint16_t displayTime)
+{
+  if (online.display == true)
+  {
+    oled.clear(PAGE);
+
+    uint8_t fontHeight = 15;
+    uint8_t yPos = LCDHEIGHT / 2 - fontHeight;
+
+    printTextCenter("Accel", yPos, 1, 1, false);  //text, y, font type, kerning, inverted
+    printTextCenter("Failed", yPos + fontHeight, 1, 1, false);  //text, y, font type, kerning, inverted
+
+    oled.display();
+
+    delay(displayTime);
+  }
+}
+
 //When user enters serial config menu the display will freeze so show splash while config happens
 void displaySerialConfig()
 {
@@ -1429,8 +1447,21 @@ void paintSystemTest()
     oled.setCursor(xOffset, yOffset + (5 * charHeight) ); //x, y
     oled.print(macAddress);
     oled.print(":");
+
+    //Verify the ESP UART2 can communicate TX/RX to ZED UART1
     if (zedUartPassed == false)
-      oled.print(F("FAIL"));
+    {
+      SFE_UBLOX_GNSS myGNSS;
+
+      //begin() attempts 3 connections
+      if (myGNSS.begin(serialGNSS) == true)
+      {
+        zedUartPassed = true;
+        oled.print(F("OK"));
+      }
+      else
+        oled.print(F("FAIL"));
+    }
     else
       oled.print(F("OK"));
   }
@@ -1445,22 +1476,29 @@ void paintBubbleLevel()
 {
   if (online.display == true)
   {
-    forceDisplayUpdate = true; //Update the display as quickly as possible
+    if (online.accelerometer == true)
+    {
+      forceDisplayUpdate = true; //Update the display as quickly as possible
 
-    getAngles();
+      getAngles();
 
-    //Draw dot in middle
-    oled.pixel(LCDWIDTH / 2, LCDHEIGHT / 2);
-    oled.pixel(LCDWIDTH / 2 + 1, LCDHEIGHT / 2);
-    oled.pixel(LCDWIDTH / 2, LCDHEIGHT / 2 + 1);
-    oled.pixel(LCDWIDTH / 2 + 1, LCDHEIGHT / 2 + 1);
+      //Draw dot in middle
+      oled.pixel(LCDWIDTH / 2, LCDHEIGHT / 2);
+      oled.pixel(LCDWIDTH / 2 + 1, LCDHEIGHT / 2);
+      oled.pixel(LCDWIDTH / 2, LCDHEIGHT / 2 + 1);
+      oled.pixel(LCDWIDTH / 2 + 1, LCDHEIGHT / 2 + 1);
 
-    //Draw circle relative to dot
-    const int radiusLarge = 10;
-    const int radiusSmall = 4;
+      //Draw circle relative to dot
+      const int radiusLarge = 10;
+      const int radiusSmall = 4;
 
-    oled.circle(LCDWIDTH / 2 - averagedPitch, LCDHEIGHT / 2 + averagedRoll, radiusLarge);
-    oled.circle(LCDWIDTH / 2 - averagedPitch, LCDHEIGHT / 2 + averagedRoll, radiusSmall);
+      oled.circle(LCDWIDTH / 2 - averagedPitch, LCDHEIGHT / 2 + averagedRoll, radiusLarge);
+      oled.circle(LCDWIDTH / 2 - averagedPitch, LCDHEIGHT / 2 + averagedRoll, radiusSmall);
+    }
+    else
+    {
+      displayAccelFail(0);
+    }
   }
 }
 

Firmware/RTK_Surveyor/Buttons.ino

@@ -201,7 +201,10 @@ static void handleFirmwareFileUpload(AsyncWebServerRequest *request, String file
     fileName.toCharArray(tempFileName, sizeof(tempFileName));
 
     if (sd.exists(tempFileName))
+    {
       sd.remove(tempFileName);
+      Serial.printf("Removed old firmware file: %s\n\r", tempFileName);
+    }
 
     Serial.printf("Start Firmware Upload: %s\n\r", tempFileName);
 
@@ -218,7 +221,9 @@ static void handleFirmwareFileUpload(AsyncWebServerRequest *request, String file
 
   //Record to file
   if (newFirmwareFile.write(data, len) != len)
-    Serial.println(F("Error writing to firmware file"));
+    log_e("Error writing to firmware file");
+  else
+    log_d("Recorded %d bytes to file\n\r", len);
 
   if (final)
   {

Firmware/RTK_Surveyor/Display.ino

@@ -42,11 +42,11 @@
 */
 
 const int FIRMWARE_VERSION_MAJOR = 1;
-const int FIRMWARE_VERSION_MINOR = 8;
+const int FIRMWARE_VERSION_MINOR = 9;
 
 #define COMPILE_WIFI //Comment out to remove all WiFi functionality
 #define COMPILE_BT //Comment out to disable all Bluetooth
-#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
+//#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us
@@ -104,7 +104,7 @@ ESP32Time rtc;
 //microSD Interface
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 #include <SPI.h>
-#include "SdFat.h"
+#include "SdFat.h" //Currently uses v2.1.1
 
 SdFat sd;
 
@@ -135,7 +135,6 @@ uint32_t sdUsedSpaceMB = 0;
 
 WiFiClient caster;
 #endif
-const char * ntrip_server_name = "SparkFun_RTK_Surveyor";
 
 unsigned long lastServerSent_ms = 0; //Time of last data pushed to caster
 unsigned long lastServerReport_ms = 0; //Time of last report of caster bytes sent
@@ -352,6 +351,8 @@ float svinMeanAccuracy = 0;
 
 uint32_t lastSetupMenuChange = 0; //Auto-selects the setup menu option after 1500ms
 uint32_t lastTestMenuChange = 0; //Avoids exiting the test menu for at least 1 second
+
+bool firstRoverStart = false; //Used to detect if user is toggling power button at POR to enter test menu
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 void setup()

Firmware/RTK_Surveyor/Form.ino

@@ -59,6 +59,7 @@ void updateSystemState()
           displayRoverSuccess(500);
 
           changeState(STATE_ROVER_NO_FIX);
+          firstRoverStart = false; //Do not allow entry into test menu again
         }
         break;
 
@@ -298,11 +299,11 @@ void updateSystemState()
 
               Serial.printf("Connected to %s:%d\n\r", settings.casterHost, settings.casterPort);
 
-              const int SERVER_BUFFER_SIZE  = 512;
+              const int SERVER_BUFFER_SIZE = 512;
               char serverBuffer[SERVER_BUFFER_SIZE];
 
-              snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP %s/%s\r\n\r\n",
-                       settings.mountPointPW, settings.mountPoint, ntrip_server_name, "App Version 1.0");
+              snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP SparkFun_RTK_%s/v%d.%d\r\n\r\n",
+                       settings.mountPointPW, settings.mountPoint, platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
 
               //Serial.printf("Sending credentials:\n%s\n\r", serverBuffer);
               caster.write(serverBuffer, strlen(serverBuffer));
@@ -475,8 +476,8 @@ void updateSystemState()
               const int SERVER_BUFFER_SIZE  = 512;
               char serverBuffer[SERVER_BUFFER_SIZE];
 
-              snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP %s/%s\r\n\r\n",
-                       settings.mountPointPW, settings.mountPoint, ntrip_server_name, "App Version 1.0");
+              snprintf(serverBuffer, SERVER_BUFFER_SIZE, "SOURCE %s /%s\r\nSource-Agent: NTRIP SparkFun_RTK_%s/v%d.%d\r\n\r\n",
+                       settings.mountPointPW, settings.mountPoint, platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
 
               //Serial.printf("Sending credentials:\n%s\n\r", serverBuffer);
               caster.write(serverBuffer, strlen(serverBuffer));
@@ -641,24 +642,12 @@ void updateSystemState()
           //Debounce entry into test menu
           if (millis() - lastTestMenuChange > 500)
           {
+            zedUartPassed = false;
+            
             //Enable RTCM 1230. This is the GLONASS bias sentence and is transmitted
             //even if there is no GPS fix. We use it to test serial output.
             i2cGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 1); //Enable message every second
 
-            //Verify the ESP UART2 can communicate TX/RX to ZED UART1
-            SFE_UBLOX_GNSS myGNSS;
-
-            //Attempt 3 connections
-            for (int x = 0 ; x < 3 ; x++)
-            {
-              if (myGNSS.begin(serialGNSS) == true)
-              {
-                zedUartPassed = true;
-                break;
-              }
-              delay(250);
-            }
-
             changeState(STATE_TESTING);
           }
         }

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -226,12 +226,12 @@ bool configureUbloxModule()
   if (getSerialRate(COM_PORT_UART1) != settings.dataPortBaud)
   {
     Serial.println(F("Updating UART1 rate"));
-    i2cGNSS.setSerialRate(settings.dataPortBaud, COM_PORT_UART1); //Set UART1 to 115200
+    i2cGNSS.setSerialRate(settings.dataPortBaud, COM_PORT_UART1);
   }
-  if (getSerialRate(COM_PORT_UART2) != settings.radioPortBaud)
+  if (getSerialRate(COM_PORT_UART2) != settings.radioPortBaud) //Defaults to 460800 to maximize message output support
   {
     Serial.println(F("Updating UART2 rate"));
-    i2cGNSS.setSerialRate(settings.radioPortBaud, COM_PORT_UART2); //Set UART2 to 57600 to match SiK telemetry radio firmware default
+    i2cGNSS.setSerialRate(settings.radioPortBaud, COM_PORT_UART2); //Defaults to 57600 to match SiK telemetry radio firmware default
   }
 
   if (response == false)

Firmware/RTK_Surveyor/States.ino

@@ -292,13 +292,13 @@ void ButtonCheckTask(void *e)
         forceSystemStateUpdate = true;
         requestChangeState(STATE_SHUTDOWN);
       }
-      //      else if ((setupBtn != NULL && setupBtn->pressedFor(500)) &&
-      //               (powerBtn != NULL && powerBtn->pressedFor(500)))
-      //      {
-      //        forceSystemStateUpdate = true;
-      //        requestChangeState(STATE_TEST);
-      //      }
-      else if (powerBtn != NULL && powerBtn->wasReleased())
+      else if (powerBtn != NULL && systemState == STATE_ROVER_NOT_STARTED && firstRoverStart == true && powerBtn->pressedFor(500))
+      {
+        forceSystemStateUpdate = true;
+        requestChangeState(STATE_TEST);
+        lastTestMenuChange = millis(); //Avoid exiting test menu for 1s
+      }
+      else if (powerBtn != NULL && powerBtn->wasReleased() && firstRoverStart == false)
       {
         switch (systemState)
         {

Firmware/RTK_Surveyor/System.ino

@@ -68,7 +68,7 @@ function parseIncoming(msg) {
                 hide("msgUBX_ESF_ALG");
                 hide("msgUBX_ESF_INS");
             }
-            else if (platformPrefix == "Express") {
+            else if (platformPrefix == "Express" || platformPrefix == "Facet") {
                 hide("sensorConfig"); //Hide Sensor Config section
 
                 hide("msgUBX_ESF_MEAS"); //Hide unsupported messages