Change test of ZED<->ESP over UART. Don't display tests that are not on a given platform.

nseidle · nseidle · commit e2fd3b219fdc · 2021-10-01T15:28:16.000-06:00
diff --git a/Firmware/RTK_Surveyor/Display.ino b/Firmware/RTK_Surveyor/Display.ino
@@ -1371,12 +1371,15 @@ void paintSystemTest()
     else
       oled.print(F("FAIL"));
 
-    oled.setCursor(xOffset, yOffset + (1 * charHeight) ); //x, y
-    oled.print(F("Accel:"));
-    if (online.accelerometer == true)
-      oled.print(F("OK"));
-    else
-      oled.print(F("FAIL"));
+    if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS || productVariant == RTK_FACET)
+    {
+      oled.setCursor(xOffset, yOffset + (1 * charHeight) ); //x, y
+      oled.print(F("Accel:"));
+      if (online.accelerometer == true)
+        oled.print(F("OK"));
+      else
+        oled.print(F("FAIL"));
+    }
 
     oled.setCursor(xOffset, yOffset + (2 * charHeight) ); //x, y
     oled.print(F("Batt:"));
@@ -1389,7 +1392,7 @@ void paintSystemTest()
     oled.setCursor(xOffset, yOffset + (3 * charHeight) ); //x, y
     oled.print(F("GNSS:"));
     int satsInView = i2cGNSS.getSIV();
-    if (online.gnss == true && satsInView > 8)
+    if (online.gnss == true && satsInView > 5)
     {
       oled.print(F("OK"));
       oled.print(F("/"));
@@ -1398,38 +1401,38 @@ void paintSystemTest()
     else
       oled.print(F("FAIL"));
 
-    oled.setCursor(xOffset, yOffset + (4 * charHeight) ); //x, y
-    oled.print(F("Mux:"));
+    if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS || productVariant == RTK_FACET)
+    {
+      oled.setCursor(xOffset, yOffset + (4 * charHeight) ); //x, y
+      oled.print(F("Mux:"));
 
-    //Set mux to channel 3 and toggle pin and verify with loop back jumper wire inserted by test technician
+      //Set mux to channel 3 and toggle pin and verify with loop back jumper wire inserted by test technician
 
-    setMuxport(MUX_ADC_DAC); //Set mux to DAC so we can toggle back/forth
-    pinMode(pin_dac26, OUTPUT);
-    pinMode(pin_adc39, INPUT_PULLUP);
+      setMuxport(MUX_ADC_DAC); //Set mux to DAC so we can toggle back/forth
+      pinMode(pin_dac26, OUTPUT);
+      pinMode(pin_adc39, INPUT_PULLUP);
 
-    digitalWrite(pin_dac26, HIGH);
-    if (digitalRead(pin_adc39) == HIGH)
-    {
-      digitalWrite(pin_dac26, LOW);
-      if (digitalRead(pin_adc39) == LOW)
-        oled.print(F("OK"));
+      digitalWrite(pin_dac26, HIGH);
+      if (digitalRead(pin_adc39) == HIGH)
+      {
+        digitalWrite(pin_dac26, LOW);
+        if (digitalRead(pin_adc39) == LOW)
+          oled.print(F("OK"));
+        else
+          oled.print(F("FAIL"));
+      }
       else
         oled.print(F("FAIL"));
     }
-    else
-      oled.print(F("FAIL"));
 
     //Display MAC address
     oled.setCursor(xOffset, yOffset + (5 * charHeight) ); //x, y
     oled.print(macAddress);
     oled.print(":");
-    if (incomingBTTest == 0)
+    if (zedUartPassed == false)
       oled.print(F("FAIL"));
     else
-    {
-      oled.write(incomingBTTest);
-      oled.print(F("-OK"));
-    }
+      oled.print(F("OK"));
   }
 }
 
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
@@ -78,21 +78,21 @@ void startConfigAP()
   ws.onEvent(onWsEvent);
   server.addHandler(&ws);
 
-// * index.html (not gz'd)
-// * favicon.ico
-
-// * /src/bootstrap.bundle.min.js - Needed for popper
-// * /src/bootstrap.min.css
-// * /src/bootstrap.min.js
-// * /src/jquery-3.6.0.min.js
-// * /src/main.js (not gz'd)
-// * /src/rtk-setup.png
-// * /src/style.css
-
-// * /src/fonts/icomoon.eot
-// * /src/fonts/icomoon.svg
-// * /src/fonts/icomoon.ttf
-// * /src/fonts/icomoon.woof
+  // * index.html (not gz'd)
+  // * favicon.ico
+
+  // * /src/bootstrap.bundle.min.js - Needed for popper
+  // * /src/bootstrap.min.css
+  // * /src/bootstrap.min.js
+  // * /src/jquery-3.6.0.min.js
+  // * /src/main.js (not gz'd)
+  // * /src/rtk-setup.png
+  // * /src/style.css
+
+  // * /src/fonts/icomoon.eot
+  // * /src/fonts/icomoon.svg
+  // * /src/fonts/icomoon.ttf
+  // * /src/fonts/icomoon.woof
 
   server.on("/", HTTP_GET, [](AsyncWebServerRequest * request) {
     request->send_P(200, "text/html", index_html);
@@ -168,11 +168,10 @@ void startConfigAP()
     request->send(response);
   });
 
-
   //Handler for the /update form POST
-  server.on("/upload", HTTP_POST, [](AsyncWebServerRequest *request){
-      request->send(200);
-    }, handleFirmwareFileUpload);
+  server.on("/upload", HTTP_POST, [](AsyncWebServerRequest * request) {
+    request->send(200);
+  }, handleFirmwareFileUpload);
 
   server.begin();
 #endif
@@ -184,12 +183,12 @@ void startConfigAP()
 #ifdef COMPILE_WIFI
 static void handleFirmwareFileUpload(AsyncWebServerRequest *request, String fileName, size_t index, uint8_t *data, size_t len, bool final)
 {
-  if(online.microSD == false)
+  if (online.microSD == false)
   {
     Serial.println(F("No SD card available"));
     return;
   }
-  
+
   //Attempt to write to file system. This avoids collisions with file writing in F9PSerialReadTask()
   if (xSemaphoreTake(xFATSemaphore, fatSemaphore_longWait_ms) != pdPASS) {
     Serial.println(F("Failed to get file system lock on firmware file"));
@@ -238,8 +237,6 @@ static void handleFirmwareFileUpload(AsyncWebServerRequest *request, String file
   }
 
   xSemaphoreGive(xFATSemaphore);
-
-
 }
 #endif
 
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -211,9 +211,7 @@ BluetoothSerial SerialBT;
 
 char platformPrefix[40] = "Surveyor"; //Sets the prefix for broadcast names
 
-HardwareSerial serialGNSS(2);
-#define RXD2 16
-#define TXD2 17
+HardwareSerial serialGNSS(2); //TX on 17, RX on 16
 
 #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
@@ -232,7 +230,7 @@ volatile bool uart2pinned = false; //This variable is touched by core 0 but chec
 const int readTaskStackSize = 2500;
 const int writeTaskStackSize = 2000;
 
-char incomingBTTest = 0; //Stores incoming text over BT when in test mode
+bool zedUartPassed = false; //Goes true during testing if ESP can communicate with ZED over UART
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
 //External Display
@@ -306,7 +304,6 @@ unsigned long timeSinceLastIncomingSetting = 0;
 uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
 char deviceName[20]; //The serial string that is broadcast. Ex: 'Surveyor Base-BC61'
 const byte menuTimeout = 15; //Menus will exit/timeout after this number of seconds
-bool inTestMode = false; //Used to re-route BT traffic while in test sub menu
 int systemTime_minutes = 0; //Used to test if logging is less than max minutes
 uint32_t powerPressedStartTime = 0; //Times how long user has been holding power button, used for power down
 uint8_t debounceDelay = 20; //ms to delay between button reads
diff --git a/Firmware/RTK_Surveyor/States.ino b/Firmware/RTK_Surveyor/States.ino
@@ -45,8 +45,6 @@ void updateSystemState()
             return;
           }
 
-          inTestMode = false; //Reroutes bluetooth bytes
-
           setMuxport(settings.dataPortChannel); //Return mux to original channel
 
           i2cGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 0); //Disable RTCM sentences
@@ -647,7 +645,19 @@ void updateSystemState()
             //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
 
-            inTestMode = true; //Reroutes bluetooth bytes
+            //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);
           }
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
@@ -13,24 +13,15 @@ void F9PSerialWriteTask(void *e)
     {
       while (SerialBT.available())
       {
-        if (inTestMode == false)
-        {
-          //Pass bytes to GNSS receiver
-          auto s = SerialBT.readBytes(wBuffer, sizeof(wBuffer));
-          serialGNSS.write(wBuffer, s);
+        //Pass bytes to GNSS receiver
+        auto s = SerialBT.readBytes(wBuffer, sizeof(wBuffer));
+        serialGNSS.write(wBuffer, s);
 
-          if (settings.enableTaskReports == true)
-            Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
-        }
-        else
-        {
-          char incoming = SerialBT.read();
-          Serial.printf("I heard: %c\n", incoming);
-          incomingBTTest = incoming; //Displayed during system test
-        }
-        delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
-        taskYIELD();
+        if (settings.enableTaskReports == true)
+          Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
       }
+      delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
+      taskYIELD();
     }
 #endif
 
@@ -166,7 +157,10 @@ void ButtonCheckTask(void *e)
           //If quick toggle is detected (less than 500ms), enter WiFi AP Config mode
           if (millis() - lastRockerSwitchChange < 500)
           {
-            requestChangeState(STATE_WIFI_CONFIG_NOT_STARTED);
+            if(systemState == STATE_ROVER_NOT_STARTED && online.display == true) //Catch during Power On
+              requestChangeState(STATE_TEST); //If RTK Surveyor, with display attached, during Rover not started, then enter test mode
+            else
+              requestChangeState(STATE_WIFI_CONFIG_NOT_STARTED);
           }
           else
           {
diff --git a/Firmware/RTK_Surveyor/menuTest.ino b/Firmware/RTK_Surveyor/menuTest.ino
@@ -3,12 +3,14 @@
 //Scan for display
 void menuTest()
 {
-  inTestMode = true; //Reroutes bluetooth bytes
-
   //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
 
+  //Go direct into test display
+  if (online.display)
+    changeState(STATE_TEST);
+
   while (1)
   {
     Serial.println();
@@ -21,7 +23,7 @@ void menuTest()
 
     if (settings.enableSD && online.microSD)
     {
-      Serial.print(F("microSD card detected:"));
+      Serial.print(F("microSD card detected"));
       if (createTestFile() == false)
       {
         Serial.print(F(" Failed to create test file. Format SD card with 'SD Card Formatter'."));
@@ -38,9 +40,8 @@ void menuTest()
     Serial.println(F("Any character received over Blueooth connection will be displayed here"));
 
     Serial.println(F("1) Display microSD contents"));
-    Serial.println(F("2) Turn on all messages on USB port"));
-    Serial.println(F("3) Reset USB Messages to Defaults (NMEAx6)"));
-    Serial.println(F("4) Duplicate UART messages to USB"));
+    Serial.println(F("2) Duplicate UART messages to USB"));
+    Serial.println(F("3) Enter Test Screen"));
 
     Serial.println(F("x) Exit"));
 
@@ -62,46 +63,13 @@ void menuTest()
     }
     else if (incoming == 2)
     {
-//      ubxMsgs usbMessage; //Create temp struct
-//      setGNSSMessageRates(usbMessage, 1); //Turn on all messages to report once per fix
-//
-//      //Now send that struct
-//      bool response = configureGNSSMessageRates(COM_PORT_USB, usbMessage); //Make sure the appropriate messages are enabled
-//      if (response == false)
-//        Serial.println(F("menuTest: Failed to enable USB messages"));
-//      else
-//        Serial.println(F("All messages enabled"));
-    }
-    else if (incoming == 3)
-    {
-//      ubxMsgs usbMessage; //Create temp struct
-//      setGNSSMessageRates(usbMessage, 0); //Turn off all messages to report
-//
-//      //Turn on default 6
-//      usbMessage.nmea_gga.msgRate = 1;
-//      usbMessage.nmea_gsa.msgRate = 1;
-//      usbMessage.nmea_gst.msgRate = 1;
-//      usbMessage.nmea_gsv.msgRate = 1;
-//      usbMessage.nmea_rmc.msgRate = 1;
-//      usbMessage.nmea_vtg.msgRate = 1;
-//
-//      //Now send that struct
-//      bool response = configureGNSSMessageRates(COM_PORT_USB, usbMessage); //Make sure the appropriate messages are enabled
-//      if (response == false)
-//        Serial.println(F("menuTest: Failed to enable USB messages"));
-//      else
-//        Serial.println(F("All messages enabled"));
-    }
-    else if (incoming == 4)
-    {
       //Send the current settings to USB
       bool response = configureGNSSMessageRates(COM_PORT_USB, settings.ubxMessages); //Make sure the appropriate messages are enabled
       if (response == false)
         Serial.println(F("menuTest: Failed to enable USB messages"));
       else
         Serial.println(F("USB now matches UART messages"));
     }
-
     else if (incoming == STATUS_PRESSED_X)
       break;
     else if (incoming == STATUS_GETNUMBER_TIMEOUT)
@@ -110,8 +78,6 @@ void menuTest()
       printUnknown(incoming);
   }
 
-  inTestMode = false; //Reroutes bluetooth bytes
-
   //Disable RTCM sentences
   i2cGNSS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 0);
 
