Config ZED only when needed to reduce boot time

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -7,10 +7,25 @@ bool configureUbloxModuleBase()
   bool response = true;
   int maxWait = 2000;
 
+  //If our settings haven't changed, and this is first config since power on, trust ZED's settings
+  if(updateZEDSettings == false && firstPowerOn == true)
+  {
+    firstPowerOn = false; //Next time user switches modes, new settings will be applied
+    log_d("Skipping ZED Base configuration");
+    return(true);
+  }
+
+  //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
+  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
+    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
+  if (response == false)
+    Serial.println(F("Set rate failed"));
+    
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
   if (i2cGNSS.getSurveyInActive() == true)
   {
+    log_d("Disabling survey");
     response = i2cGNSS.disableSurveyMode(maxWait); //Disable survey
     if (response == false)
       Serial.println(F("Disable Survey failed"));
@@ -61,6 +76,10 @@ bool configureUbloxModuleBase()
     return (false);
   }
 
+  response &= i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
+  if (response == false)
+    Serial.println(F("Module failed to save."));
+
   return (response);
 }
 

Firmware/RTK_Surveyor/Begin.ino

@@ -354,6 +354,8 @@ void beginGNSS()
 {
   if (i2cGNSS.begin() == false)
   {
+    log_d("GNSS Failed to begin. Trying again.");
+
     //Try again with power on delay
     delay(1000); //Wait for ZED-F9P to power up before it can respond to ACK
     if (i2cGNSS.begin() == false)
@@ -413,6 +415,15 @@ void beginGNSS()
 //Configuration can take >1s so configure during splash
 void configureGNSS()
 {
+  //Configuring the ZED can take more than 2000ms. We save configuration to
+  //ZED so there is no need to update settings unless user has modified
+  //the settings file or internal settings.
+  if (updateZEDSettings == false)
+  {
+    log_d("Skipping ZED configuration");
+    return;
+  }
+
   bool response = configureUbloxModule();
   if (response == false)
   {
@@ -525,7 +536,12 @@ void beginSystemState()
 {
   if (productVariant == RTK_SURVEYOR)
   {
-    systemState = STATE_ROVER_NOT_STARTED; //Assume Rover. ButtonCheckTask_Switch() will correct as needed.
+    //If the rocker switch was moved while off, force module settings
+    //When switch is set to '1' = BASE, pin will be shorted to ground
+    if (settings.lastState == STATE_ROVER_NOT_STARTED && digitalRead(pin_setupButton) == LOW) updateZEDSettings = true;
+    else if (settings.lastState == STATE_BASE_NOT_STARTED && digitalRead(pin_setupButton) == HIGH) updateZEDSettings = true;
+
+    systemState = STATE_ROVER_NOT_STARTED; //Assume Rover. ButtonCheckTask() will correct as needed.
 
     setupBtn = new Button(pin_setupButton); //Create the button in memory
   }
@@ -571,10 +587,16 @@ void beginSystemState()
 
 //Setup the timepulse output on the PPS pin for external triggering
 //Setup TM2 time stamp input as need
-void beginExternalTriggers()
+bool beginExternalTriggers()
 {
-  if (online.gnss == false)
-    return;
+  if (online.gnss == false) return (false);
+
+  //If our settings haven't changed, trust ZED's settings
+  if (updateZEDSettings == false)
+  {
+    log_d("Skipping ZED Trigger configuration");
+    return (true);
+  }
 
   UBX_CFG_TP5_data_t timePulseParameters;
 
@@ -604,4 +626,10 @@ void beginExternalTriggers()
     i2cGNSS.setAutoTIMTM2callback(&eventTriggerReceived); //Enable automatic TIM TM2 messages with callback to eventTriggerReceived
   else
     i2cGNSS.setAutoTIMTM2callback(NULL);
+
+  bool response = i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
+  if (response == false)
+    Serial.println(F("Module failed to save."));
+
+  return (response);
 }

Firmware/RTK_Surveyor/NVM.ino

@@ -541,25 +541,85 @@ bool parseLine(char* str) {
   else if (strcmp(settingName, "maxLogLength_minutes") == 0)
     settings.maxLogLength_minutes = d;
   else if (strcmp(settingName, "observationSeconds") == 0)
-    settings.observationSeconds = d;
+  {
+    if (settings.observationSeconds != d) //If a setting for the ZED has changed, apply, and trigger module config update
+    {
+      settings.observationSeconds = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "observationPositionAccuracy") == 0)
-    settings.observationPositionAccuracy = d;
+  {
+    if (settings.observationPositionAccuracy != d)
+    {
+      settings.observationPositionAccuracy = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedBase") == 0)
-    settings.fixedBase = d;
+  {
+    if (settings.fixedBase != d)
+    {
+      settings.fixedBase = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedBaseCoordinateType") == 0)
-    settings.fixedBaseCoordinateType = d;
+  {
+    if (settings.fixedBaseCoordinateType != d)
+    {
+      settings.fixedBaseCoordinateType = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedEcefX") == 0)
-    settings.fixedEcefX = d;
+  {
+    if (settings.fixedEcefX != d)
+    {
+      settings.fixedEcefX = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedEcefY") == 0)
-    settings.fixedEcefY = d;
+  {
+    if (settings.fixedEcefY != d)
+    {
+      settings.fixedEcefY = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedEcefZ") == 0)
-    settings.fixedEcefZ = d;
+  {
+    if (settings.fixedEcefZ != d)
+    {
+      settings.fixedEcefZ = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedLat") == 0)
-    settings.fixedLat = d;
+  {
+    if (settings.fixedLat != d)
+    {
+      settings.fixedLat = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedLong") == 0)
-    settings.fixedLong = d;
+  {
+    if (settings.fixedLong != d)
+    {
+      settings.fixedLong = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "fixedAltitude") == 0)
-    settings.fixedAltitude = d;
+  {
+    if (settings.fixedAltitude != d)
+    {
+      settings.fixedAltitude = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "dataPortBaud") == 0)
     settings.dataPortBaud = d;
   else if (strcmp(settingName, "radioPortBaud") == 0)
@@ -570,7 +630,6 @@ bool parseLine(char* str) {
     strcpy(settings.casterHost, settingValue);
   else if (strcmp(settingName, "casterPort") == 0)
     settings.casterPort = d;
-
   else if (strcmp(settingName, "casterUser") == 0)
     strcpy(settings.casterUser, settingValue);
   else if (strcmp(settingName, "casterUserPW") == 0)
@@ -592,9 +651,21 @@ bool parseLine(char* str) {
   else if (strcmp(settingName, "surveyInStartingAccuracy") == 0)
     settings.surveyInStartingAccuracy = d;
   else if (strcmp(settingName, "measurementRate") == 0)
-    settings.measurementRate = d;
+  {
+    if (settings.measurementRate != d)
+    {
+      settings.measurementRate = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "navigationRate") == 0)
-    settings.navigationRate = d;
+  {
+    if (settings.navigationRate != d)
+    {
+      settings.navigationRate = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "enableI2Cdebug") == 0)
     settings.enableI2Cdebug = d;
   else if (strcmp(settingName, "enableHeapReport") == 0)
@@ -612,27 +683,81 @@ bool parseLine(char* str) {
   else if (strcmp(settingName, "sppTxQueueSize") == 0)
     settings.sppTxQueueSize = d;
   else if (strcmp(settingName, "dynamicModel") == 0)
-    settings.dynamicModel = d;
+  {
+    if (settings.dynamicModel != d)
+    {
+      settings.dynamicModel = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "lastState") == 0)
-    settings.lastState = (SystemState)d;
+  {
+    if (settings.lastState != (SystemState)d)
+    {
+      settings.lastState = (SystemState)d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "throttleDuringSPPCongestion") == 0)
     settings.throttleDuringSPPCongestion = d;
   else if (strcmp(settingName, "enableSensorFusion") == 0)
-    settings.enableSensorFusion = d;
+  {
+    if (settings.enableSensorFusion != d)
+    {
+      settings.enableSensorFusion = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "autoIMUmountAlignment") == 0)
-    settings.autoIMUmountAlignment = d;
+  {
+    if (settings.autoIMUmountAlignment != d)
+    {
+      settings.autoIMUmountAlignment = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "enableResetDisplay") == 0)
     settings.enableResetDisplay = d;
   else if (strcmp(settingName, "enableExternalPulse") == 0)
-    settings.enableExternalPulse = d;
+  {
+    if (settings.enableExternalPulse != d)
+    {
+      settings.enableExternalPulse = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "externalPulseTimeBetweenPulse_us") == 0)
-    settings.externalPulseTimeBetweenPulse_us = d;
+  {
+    if (settings.externalPulseTimeBetweenPulse_us != d)
+    {
+      settings.externalPulseTimeBetweenPulse_us = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "externalPulseLength_us") == 0)
-    settings.externalPulseLength_us = d;
+  {
+    if (settings.externalPulseLength_us != d)
+    {
+      settings.externalPulseLength_us = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "externalPulsePolarity") == 0)
-    settings.externalPulsePolarity = (pulseEdgeType_e)d;
+  {
+    if (settings.externalPulsePolarity != (pulseEdgeType_e)d)
+    {
+      settings.externalPulsePolarity = (pulseEdgeType_e)d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "enableExternalHardwareEventLogging") == 0)
-    settings.enableExternalHardwareEventLogging = d;
+  {
+    if (settings.enableExternalHardwareEventLogging != d)
+    {
+      settings.enableExternalHardwareEventLogging = d;
+      updateZEDSettings = true;
+    }
+  }
   else if (strcmp(settingName, "profileName") == 0)
     strcpy(settings.profileName, settingValue);
 
@@ -652,7 +777,12 @@ bool parseLine(char* str) {
 
         if (strcmp(settingName, tempString) == 0)
         {
-          settings.ubxConstellations[x].enabled = d;
+          if (settings.ubxConstellations[x].enabled != d)
+          {
+            settings.ubxConstellations[x].enabled = d;
+            updateZEDSettings = true;
+          }
+
           knownSetting = true;
           break;
         }
@@ -669,7 +799,12 @@ bool parseLine(char* str) {
 
         if (strcmp(settingName, tempString) == 0)
         {
-          settings.ubxMessages[x].msgRate = d;
+          if (settings.ubxMessages[x].msgRate != d)
+          {
+            settings.ubxMessages[x].msgRate = d;
+            updateZEDSettings = true;
+          }
+          
           knownSetting = true;
           break;
         }

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:
@@ -399,6 +399,8 @@ bool newAPSettings = false; //Goes true when new setting is received via AP conf
 
 unsigned int binBytesSent = 0; //Tracks firmware bytes sent over WiFi OTA update via AP config.
 int binBytesLastUpdate = 0; //Allows websocket notification to be sent every 100k bytes
+bool updateZEDSettings = false; //If settings from file are different from LittleFS, config the ZED
+bool firstPowerOn = true; //After boot, apply new settings to ZED if user switches between base or rover
 
 unsigned long startTime = 0; //Used for checking longest running functions
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -438,6 +440,8 @@ void setup()
 
   Serial.flush(); //Complete any previous prints
 
+  log_d("Boot time: %d", millis());
+
   danceLEDs(); //Turn on LEDs like a car dashboard
 }