Merge pull request #87 from sparkfun/StatusQuery

Add status report when ~ is received

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -50,8 +50,8 @@
 const int FIRMWARE_VERSION_MAJOR = 1;
 const int FIRMWARE_VERSION_MINOR = 11;
 
-#define COMPILE_WIFI //Comment out to remove all WiFi functionality
-#define COMPILE_BT //Comment out to disable all Bluetooth
+//#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 the RTK board identifier:
@@ -461,8 +461,7 @@ void loop()
 
   reportHeap(); //If debug enabled, report free heap
 
-  //Menu system via ESP32 USB connection
-  if (Serial.available()) menuMain(); //Present user menu
+  updateSerial(); //Menu system via ESP32 USB connection
 
   //Convert current system time to minutes. This is used in F9PSerialReadTask()/updateLogs() to see if we are within max log window.
   systemTime_minutes = millis() / 1000L / 60;

Firmware/RTK_Surveyor/System.ino

@@ -737,7 +737,7 @@ void createNMEASentence(customNmeaType_e textID, char *nmeaMessage, char *textMe
   const uint8_t totalNumberOfSentences = 1;
   const uint8_t sentenceNumber = 1;
 
-  char nmeaTxt[82]; //Max NMEA sentence length is 82
+  char nmeaTxt[200]; //Max NMEA sentence length is 82
   sprintf(nmeaTxt, "$GNTXT,%02d,%02d,%02d,%s*", totalNumberOfSentences, sentenceNumber, textID, textMessage);
 
   //From: http://engineeringnotes.blogspot.com/2015/02/generate-crc-for-nmea-strings-arduino.html

Firmware/RTK_Surveyor/menuMain.ino

@@ -1,3 +1,21 @@
+//Check to see if we've received serial over USB
+//Report status if ~ received, otherwise present config menu
+void updateSerial()
+{
+  if (Serial.available()) 
+  {
+    byte incoming = Serial.read();
+    
+    if(incoming == '~')
+    {
+      //Output custom GNTXT message with all current system data
+      printCurrentConditionsNMEA();
+    }
+    else
+      menuMain(); //Present user menu
+  }  
+}
+
 //Display the options
 //If user doesn't respond within a few seconds, return to main loop
 void menuMain()

Firmware/RTK_Surveyor/menuSystem.ino

@@ -321,3 +321,76 @@ void printCurrentConditions()
     Serial.println();
   }
 }
+
+void printCurrentConditionsNMEA()
+{
+  if (online.gnss == true)
+  {
+    // First, let's collect the position data
+    uint8_t month = i2cGNSS.getMonth();
+    uint8_t day = i2cGNSS.getDay();
+    int year = i2cGNSS.getYear() % 2000; //Limit to last two digits
+
+    uint8_t hour = i2cGNSS.getHour();
+    uint8_t minute = i2cGNSS.getMinute();
+    uint8_t second = i2cGNSS.getSecond();
+    int mseconds = ceil(i2cGNSS.getMillisecond() / 10.0); //Limit to first two digits
+
+    int32_t latitude = i2cGNSS.getHighResLatitude();
+    int8_t latitudeHp = i2cGNSS.getHighResLatitudeHp();
+    int32_t longitude = i2cGNSS.getHighResLongitude();
+    int8_t longitudeHp = i2cGNSS.getHighResLongitudeHp();
+    int32_t ellipsoid = i2cGNSS.getElipsoid();
+    int8_t ellipsoidHp = i2cGNSS.getElipsoidHp();
+    int32_t msl = i2cGNSS.getMeanSeaLevel();
+    int8_t mslHp = i2cGNSS.getMeanSeaLevelHp();
+    uint32_t accuracy = i2cGNSS.getHorizontalAccuracy();
+    byte siv = i2cGNSS.getSIV();
+    byte fixType = i2cGNSS.getFixType();
+    byte rtkSolution = i2cGNSS.getCarrierSolutionType();
+
+    // Defines storage for the lat and lon as double
+    double d_lat; // latitude
+    double d_lon; // longitude
+
+    // Assemble the high precision latitude and longitude
+    d_lat = ((double)latitude) / 10000000.0; // Convert latitude from degrees * 10^-7 to degrees
+    d_lat += ((double)latitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
+    d_lon = ((double)longitude) / 10000000.0; // Convert longitude from degrees * 10^-7 to degrees
+    d_lon += ((double)longitudeHp) / 1000000000.0; // Now add the high resolution component (degrees * 10^-9 )
+
+    //float f_ellipsoid;
+    float f_msl;
+    float f_accuracy;
+
+    //f_ellipsoid = (ellipsoid * 10) + ellipsoidHp;
+    //f_ellipsoid = f_ellipsoid / 10000.0; // Convert from mm * 10^-1 to m
+
+    f_msl = (msl * 10) + mslHp;
+    f_msl = f_msl / 10000.0; // Convert from mm * 10^-1 to m
+
+    f_accuracy = accuracy;
+    f_accuracy = f_accuracy / 10000.0; // Convert from mm * 10^-1 to m
+
+    char systemStatus[100];
+    sprintf(systemStatus, "%02d%02d%02d.%02d,%02d%02d%02d,%0.3f,%d,%0.9f,%0.9f,%0.2f,%d,%d,%d",
+            hour, minute, second, mseconds,
+            day, month, year,
+            f_accuracy, siv,
+            d_lat, d_lon,
+            f_msl,
+            fixType, rtkSolution,
+            battLevel
+            );
+
+    char nmeaMessage[100]; //Max NMEA sentence length is 82
+    createNMEASentence(CUSTOM_NMEA_TYPE_STATUS, nmeaMessage, systemStatus); //textID, buffer, text
+    Serial.println(nmeaMessage);
+  }
+  else
+  {
+    char nmeaMessage[100]; //Max NMEA sentence length is 82
+    createNMEASentence(CUSTOM_NMEA_TYPE_STATUS, nmeaMessage, (char *)"OFFLINE"); //textID, buffer, text
+    Serial.println(nmeaMessage);
+  }
+}

Firmware/RTK_Surveyor/settings.h

@@ -89,6 +89,7 @@ typedef enum
   CUSTOM_NMEA_TYPE_EVENT,
   CUSTOM_NMEA_TYPE_SYSTEM_VERSION,
   CUSTOM_NMEA_TYPE_ZED_VERSION,
+  CUSTOM_NMEA_TYPE_STATUS,
 } customNmeaType_e;
 
 //Freeze and blink LEDs if we hit a bad error